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

#include <measurements.h>

List of all members.

Public Member Functions
	WorldPosition (void)
const TooN::Matrix< M_DIMENSION, State::STATE_DIMENSION > &	getMeasurementJacobian (const State &state) const
const TooN::Matrix< M_DIMENSION >	getMeasurementCovariance (const State &state) const
const TooN::Vector< M_DIMENSION >	getInnovation (const State &state) const
void	setCovariance (double sigma)
void	setCovariance (const TooN::Vector< M_DIMENSION > &sigma)
Public Attributes
TooN::Vector< M_DIMENSION >	position
TooN::Matrix< M_DIMENSION >	covariance
TooN::Matrix< M_DIMENSION, State::STATE_DIMENSION >	jacobian
Static Public Attributes
const int	M_DIMENSION = 3

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Detailed Description

template<class State>
class tag::WorldPosition< State >

An absolute position (= translation) measurement in world coordinates. This is transformed into an incremental motion given the state of the filter. Possible sensors include GPS.

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Constructor & Destructor Documentation

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

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Member Function Documentation

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

the negative vector corresponds to the left transformation to get from the current reference frame to the new reference frame where position is the origin.

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

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

template<class State> void tag::WorldPosition< State >::setCovariance (  const TooN::Vector< M_DIMENSION > &  sigma  )  [inline]

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

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Member Data Documentation

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

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

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

template<class State> TooN::Vector<M_DIMENSION> tag::WorldPosition< State >::position

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

• measurements.h

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