The measurement here has been split into a base and derived type, so that the derived type only contains the little bit that depends on a particular state type. More...
#include <AbsoluteOrientationMeasurement.h>
Inheritance diagram for osvr::kalman::AbsoluteOrientationBase:
Public Types | |
| using | MeasurementVector = types::Vector< DIMENSION > |
| using | MeasurementSquareMatrix = types::SquareMatrix< DIMENSION > |
Public Member Functions | |
| AbsoluteOrientationBase (Eigen::Quaterniond const &quat, types::Vector< 3 > const &emVariance) | |
| template<typename State > | |
| MeasurementSquareMatrix const & | getCovariance (State const &) |
| template<typename State > | |
| MeasurementVector | getResidual (State const &s) const |
| Gets the measurement residual, also known as innovation: predicts the measurement from the predicted state, and returns the difference. More... | |
| void | setMeasurement (Eigen::Quaterniond const &quat) |
| Convenience method to be able to store and re-use measurements. | |
| types::Matrix< DIMENSION, 3 > | getJacobianBlock () const |
| Get the block of jacobian that is non-zero: your subclass will have to put it where it belongs for each particular state type. More... | |
Static Public Attributes | |
| static EIGEN_MAKE_ALIGNED_OPERATOR_NEW const types::DimensionType | DIMENSION = 3 |
Detailed Description
The measurement here has been split into a base and derived type, so that the derived type only contains the little bit that depends on a particular state type.
Member Function Documentation
§ getJacobianBlock()
|
inline |
Get the block of jacobian that is non-zero: your subclass will have to put it where it belongs for each particular state type.
§ getResidual()
template<typename State >
|
inline |
Gets the measurement residual, also known as innovation: predicts the measurement from the predicted state, and returns the difference.
State type doesn't matter as long as we can .getCombinedQuaternion()
The documentation for this class was generated from the following file:
- inc/osvr/Kalman/AbsoluteOrientationMeasurement.h
