tag::IncrementalPose< State > Class Template Reference
[Measurement classes]

#include <measurements.h>

List of all members.

Public Member Functions
	IncrementalPose (void)
TooN::Matrix< M_DIMENSION, State::STATE_DIMENSION > &	getMeasurementJacobian (const State &state)
TooN::Matrix< M_DIMENSION > &	getMeasurementCovariance (const State &state)
TooN::Vector< M_DIMENSION > &	getInnovation (const State &state)
void	setMeasurement (const TooN::SE3 &increment)
Public Attributes
TooN::Matrix< M_DIMENSION >	covariance
TooN::Matrix< M_DIMENSION, State::STATE_DIMENSION >	jacobian
TooN::Vector< M_DIMENSION >	measurement
Static Public Attributes
const int	M_DIMENSION = 6

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Detailed Description

template<class State>
class tag::IncrementalPose< State >

An incremental measurement consisting of the 6-vector parameterizing a correction to be left multiplied to the current pose. This is typically the result of an optimization run.

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Constructor & Destructor Documentation

template<class State> tag::IncrementalPose< State >::IncrementalPose (  void   )  [inline]

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Member Function Documentation

template<class State> TooN::Vector<M_DIMENSION>& tag::IncrementalPose< State >::getInnovation (  const State &  state  )  [inline]

template<class State> TooN::Matrix<M_DIMENSION>& tag::IncrementalPose< State >::getMeasurementCovariance (  const State &  state  )  [inline]

template<class State> TooN::Matrix<M_DIMENSION,State::STATE_DIMENSION>& tag::IncrementalPose< State >::getMeasurementJacobian (  const State &  state  )  [inline]

template<class State> void tag::IncrementalPose< State >::setMeasurement (  const TooN::SE3 &  increment  )  [inline]

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Member Data Documentation

template<class State> TooN::Matrix<M_DIMENSION> tag::IncrementalPose< State >::covariance

template<class State> TooN::Matrix<M_DIMENSION,State::STATE_DIMENSION> tag::IncrementalPose< State >::jacobian

template<class State> const int tag::IncrementalPose< State >::M_DIMENSION = 6 [static]

template<class State> TooN::Vector<M_DIMENSION> tag::IncrementalPose< State >::measurement

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The documentation for this class was generated from the following file:

• measurements.h

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