tag::WorldDirection< State > Class Template Reference

#include <measurements.h>

Collaboration diagram for tag::WorldDirection< State >:

Public Member Functions
	WorldDirection (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	setCovariance (double sigma)

Public Attributes
TooN::Vector< 3 >	measurement
TooN::Vector< 3 >	reference
TooN::Matrix< M_DIMENSION >	covariance

Static Public Attributes
static const int	M_DIMENSION = 3

Detailed Description

template<class State>
class tag::WorldDirection< State >

Measuring rotation by comparing a measured direction to a known direction in world space. Possible sensors include gravity or magnetic field direction.

Constructor & Destructor Documentation

template<class State >

tag::WorldDirection< State >::WorldDirection ( void  )

inline

References tag::WorldDirection< State >::covariance, tag::WorldDirection< State >::measurement, and tag::WorldDirection< State >::reference.

Member Function Documentation

template<class State >

TooN::Vector<M_DIMENSION> tag::WorldDirection< State >::getInnovation ( const State &  state )

inline

References tag::WorldDirection< State >::measurement, and tag::WorldDirection< State >::reference.

template<class State >

TooN::Matrix<M_DIMENSION>& tag::WorldDirection< State >::getMeasurementCovariance ( const State &  state )

inline

References tag::WorldDirection< State >::covariance.

template<class State >

TooN::Matrix<M_DIMENSION,State::STATE_DIMENSION> tag::WorldDirection< State >::getMeasurementJacobian ( const State &  state )

inline

References tag::WorldDirection< State >::reference.

template<class State >

void tag::WorldDirection< State >::setCovariance ( double  sigma )

inline

References tag::WorldDirection< State >::covariance.

Member Data Documentation

template<class State >

TooN::Matrix<M_DIMENSION> tag::WorldDirection< State >::covariance

Referenced by tag::WorldDirection< State >::getMeasurementCovariance(), tag::WorldDirection< State >::setCovariance(), and tag::WorldDirection< State >::WorldDirection().

template<class State >

const int tag::WorldDirection< State >::M_DIMENSION = 3

static

template<class State >

TooN::Vector<3> tag::WorldDirection< State >::measurement

Referenced by tag::WorldDirection< State >::getInnovation(), and tag::WorldDirection< State >::WorldDirection().

template<class State >

TooN::Vector<3> tag::WorldDirection< State >::reference

Referenced by tag::WorldDirection< State >::getInnovation(), tag::WorldDirection< State >::getMeasurementJacobian(), and tag::WorldDirection< State >::WorldDirection().

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

• measurements.h