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

#include <measurements.h>

List of all members.

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
const int	M_DIMENSION = 3

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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.

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Constructor & Destructor Documentation

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

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Member Function Documentation

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

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

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

template<class State> void tag::WorldDirection< State >::setCovariance (  double  sigma  )  [inline]

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Member Data Documentation

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

template<class State> const int tag::WorldDirection< State >::M_DIMENSION = 3 [static]

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

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

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

• measurements.h

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