PoseStateExponentialMap.h File Reference

Header defining a state that uses the "Exponential Map" rotation formalism" instead of the "internal incremental rotation, externalized quaternion" representation. More...

#include "FlexibleKalmanBase.h"
#include "MatrixExponentialMap.h"

Go to the source code of this file.

Classes
class	osvr::kalman::pose_exp_map::State

Namespaces
	osvr
	The main namespace for all C++ elements of the framework, internal and external.
	osvr::kalman
	Header-only framework for building Kalman-style filters, prediction, and sensor fusion.

Typedefs
using	osvr::kalman::pose_exp_map::Dimension = types::DimensionConstant< 12 >
using	osvr::kalman::pose_exp_map::StateVector = types::DimVector< Dimension >
using	osvr::kalman::pose_exp_map::StateVectorBlock3 = StateVector::FixedSegmentReturnType< 3 >::Type
using	osvr::kalman::pose_exp_map::ConstStateVectorBlock3 = StateVector::ConstFixedSegmentReturnType< 3 >::Type
using	osvr::kalman::pose_exp_map::StateVectorBlock6 = StateVector::FixedSegmentReturnType< 6 >::Type
using	osvr::kalman::pose_exp_map::StateSquareMatrix = types::DimSquareMatrix< Dimension >

Functions
StateSquareMatrix	osvr::kalman::pose_exp_map::stateTransitionMatrix (double dt)
	This returns A(deltaT), though if you're just predicting xhat-, use applyVelocity() instead for performance. More...
double	osvr::kalman::pose_exp_map::computeAttenuation (double damping, double dt)
StateSquareMatrix	osvr::kalman::pose_exp_map::stateTransitionMatrixWithVelocityDamping (double dt, double damping)
StateVector	osvr::kalman::pose_exp_map::applyVelocity (StateVector const &state, double dt)
	Computes A(deltaT)xhat(t-deltaT) More...
void	osvr::kalman::pose_exp_map::dampenVelocities (StateVector &state, double damping, double dt)
template<typename OutputStream >
OutputStream &	osvr::kalman::pose_exp_map::operator<< (OutputStream &os, State const &state)
	Stream insertion operator, for displaying the state of the state class. More...
Accessors to blocks in the state vector.
StateVectorBlock3	osvr::kalman::pose_exp_map::position (StateVector &vec)
ConstStateVectorBlock3	osvr::kalman::pose_exp_map::position (StateVector const &vec)
StateVectorBlock3	osvr::kalman::pose_exp_map::orientation (StateVector &vec)
ConstStateVectorBlock3	osvr::kalman::pose_exp_map::orientation (StateVector const &vec)
StateVectorBlock3	osvr::kalman::pose_exp_map::velocity (StateVector &vec)
ConstStateVectorBlock3	osvr::kalman::pose_exp_map::velocity (StateVector const &vec)
StateVectorBlock3	osvr::kalman::pose_exp_map::angularVelocity (StateVector &vec)
ConstStateVectorBlock3	osvr::kalman::pose_exp_map::angularVelocity (StateVector const &vec)
StateVectorBlock6	osvr::kalman::pose_exp_map::velocities (StateVector &vec)
	both translational and angular velocities

Detailed Description

Header defining a state that uses the "Exponential Map" rotation formalism" instead of the "internal incremental rotation, externalized quaternion" representation.

Todo:

incomplete

Date

2015

Author

Sensics, Inc. http://sensics.com/osvr

Function Documentation

applyVelocity()

StateVector osvr::kalman::pose_exp_map::applyVelocity ( StateVector const &  state, double  dt  )

inline

Computes A(deltaT)xhat(t-deltaT)

Todo:

benchmark - assuming for now that the manual small calcuations are faster than the matrix ones.

operator<<()

template<typename OutputStream >

OutputStream& osvr::kalman::pose_exp_map::operator<< ( OutputStream &  os, State const &  state  )

inline

Stream insertion operator, for displaying the state of the state class.

stateTransitionMatrix()

StateSquareMatrix osvr::kalman::pose_exp_map::stateTransitionMatrix ( double  dt )

inline

This returns A(deltaT), though if you're just predicting xhat-, use applyVelocity() instead for performance.