UtilityFunctions.h File Reference

Header. More...

#include <osvr/Util/TimeValue.h>
#include <LedMeasurement.h>
#include <osvr/Util/EigenCoreGeometry.h>
#include <osvr/Util/EigenQuatExponentialMap.h>
#include <array>
#include <cstddef>
#include <iostream>
#include <memory>
#include <vector>

Go to the source code of this file.

Classes
struct	osvr::vbtracker::TimestampedMeasurements
struct	osvr::vbtracker::TrackedData

Namespaces
	osvr
	The main namespace for all C++ elements of the framework, internal and external.

Typedefs
using	osvr::vbtracker::TimestampedMeasurementsPtr = std::unique_ptr< TimestampedMeasurements >
using	osvr::vbtracker::MeasurementsRows = std::vector< TimestampedMeasurementsPtr >
template<std::size_t N>
using	osvr::vbtracker::Vec = Eigen::Matrix< double, N, 1 >
using	osvr::vbtracker::reftracker::TransformParams = Vec< 12 >
using	osvr::vbtracker::TrackedDataPtr = std::unique_ptr< TrackedData >
using	osvr::vbtracker::TrackedSamples = std::vector< TrackedDataPtr >

Enumerations
enum	{ BaseXlate = 0, BaseRot = BaseXlate + 3, InnerXlate = BaseRot + 3, InnerRot = InnerXlate + 3 }
	Indices into the array.

Functions
Eigen::IOFormat const &	osvr::vbtracker::getFullFormat ()
	Use for output of parameters.
double	osvr::vbtracker::getReallyBigCost ()
template<typename VecType >
Eigen::Quaterniond	osvr::vbtracker::rot_exp (VecType const &v)
Eigen::Isometry3d	osvr::vbtracker::makeIsometry (Eigen::Vector3d const &xlate, Eigen::Quaterniond const &quat)
Eigen::Isometry3d	osvr::vbtracker::makeIsometry (Eigen::Translation3d const &xlate, Eigen::Quaterniond const &quat)
Eigen::Isometry3d	osvr::vbtracker::makeIsometry (Eigen::Ref< Eigen::Vector3d const > const &xlate)
TransformParams const &	osvr::vbtracker::reftracker::getRefTrackerTransformParams ()
	where we can store results from a run of computeRefTrackerTransform() for use later/elsewhere. More...
Eigen::Translation3d	osvr::vbtracker::reftracker::getBaseTranslation (TransformParams const &vec)
Eigen::Quaterniond	osvr::vbtracker::reftracker::getBaseRotation (TransformParams const &vec)
Eigen::Isometry3d	osvr::vbtracker::reftracker::getBaseTransform (TransformParams const &vec)
Eigen::Translation3d	osvr::vbtracker::reftracker::getInnerTranslation (TransformParams const &vec)
Eigen::Quaterniond	osvr::vbtracker::reftracker::getInnerRotation (TransformParams const &vec)
Eigen::Isometry3d	osvr::vbtracker::reftracker::getInnerTransform (TransformParams const &vec)
double	osvr::vbtracker::costMeasurement (Eigen::Isometry3d const &refPose, Eigen::Isometry3d const &expPose)
void	osvr::vbtracker::outputTransformedSample (Eigen::Isometry3d const &baseXform, Eigen::Isometry3d const &innerXform, TrackedData const &sample)

Detailed Description

Header.

Date

2016

Author

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

Function Documentation

costMeasurement()

double osvr::vbtracker::costMeasurement	(	Eigen::Isometry3d const &	refPose,
		Eigen::Isometry3d const &	expPose
	)

Arbitrary triangle facing the tracked object, point up, 1 meter away, per Welch appendix E

getRefTrackerTransformParams()

TransformParams const& osvr::vbtracker::reftracker::getRefTrackerTransformParams

(

)

where we can store results from a run of computeRefTrackerTransform() for use later/elsewhere.