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 <IMUStateMeasurements.h>
Inheritance diagram for osvr::kalman::IMUOrientationMeasBase< PolicyT >:
Public Types | |
| using | MeasurementVector = types::Vector< DIMENSION > |
| using | MeasurementSquareMatrix = types::SquareMatrix< DIMENSION > |
| using | Policy = PolicyT |
| Specifies which innovation computation and jacobian to use. | |
Public Member Functions | |
| IMUOrientationMeasBase (Eigen::Quaterniond const &quat, types::Vector< 3 > const &emVariance) | |
| Quat should already by in camera space! | |
| 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... | |
| template<typename State > | |
| MeasurementVector | getResidual (MeasurementVector const &predictedMeasurement, State const &s) const |
| void | setMeasurement (Eigen::Quaterniond const &quat) |
| Convenience method to be able to store and re-use measurements. | |
| template<typename State > | |
| types::Matrix< DIMENSION, 3 > | getJacobianBlock (State const &s) 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
template<typename PolicyT>
class osvr::kalman::IMUOrientationMeasBase< PolicyT >
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()
template<typename PolicyT >
template<typename State >
|
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 PolicyT >
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:
- plugins/unifiedvideoinertialtracker/IMUStateMeasurements.h
