xrt_fusion::AbsolutePositionLeverArmMeasurement Class Reference

For PS Move-like things, where there's a directly-computed absolute position that is not at the tracked body's origin. More...

#include <tracking/t_fusion.hpp>

Inheritance diagram for xrt_fusion::AbsolutePositionLeverArmMeasurement:

Collaboration diagram for xrt_fusion::AbsolutePositionLeverArmMeasurement:

Public Types
using	State = flexkalman::pose_externalized_rotation::State
using	MeasurementVector = types::Vector< Dimension >
using	MeasurementSquareMatrix = types::SquareMatrix< Dimension >

Public Member Functions
	AbsolutePositionLeverArmMeasurement (MeasurementVector const &measurement, MeasurementVector const &knownLocationInBodySpace, MeasurementVector const &variance)
MeasurementSquareMatrix const &	getCovariance (State const &)
types::Vector< 3 >	predictMeasurement (State const &s) const
MeasurementVector	getResidual (MeasurementVector const &predictedMeasurement, State const &) const
MeasurementVector	getResidual (State const &s) const

Static Public Attributes
static constexpr size_t	Dimension = 3

Detailed Description

For PS Move-like things, where there's a directly-computed absolute position that is not at the tracked body's origin.

Member Typedef Documentation

MeasurementSquareMatrix

using xrt_fusion::AbsolutePositionLeverArmMeasurement::MeasurementSquareMatrix = types::SquareMatrix<Dimension>

MeasurementVector

using xrt_fusion::AbsolutePositionLeverArmMeasurement::MeasurementVector = types::Vector<Dimension>

State

using xrt_fusion::AbsolutePositionLeverArmMeasurement::State = flexkalman::pose_externalized_rotation::State

Constructor & Destructor Documentation

AbsolutePositionLeverArmMeasurement()

xrt_fusion::AbsolutePositionLeverArmMeasurement::AbsolutePositionLeverArmMeasurement ( MeasurementVector const &  measurement, MeasurementVector const &  knownLocationInBodySpace, MeasurementVector const &  variance  )

inline

Todo:

the point we get from the camera isn't the center of the ball, but the center of the visible surface of the ball - a closer approximation would be translation along the vector to the center of projection....

Member Function Documentation

getCovariance()

MeasurementSquareMatrix const& xrt_fusion::AbsolutePositionLeverArmMeasurement::getCovariance ( State const &  )

inline

getResidual() [1/2]

MeasurementVector xrt_fusion::AbsolutePositionLeverArmMeasurement::getResidual ( MeasurementVector const &  predictedMeasurement, State const &    ) const

inline

getResidual() [2/2]

MeasurementVector xrt_fusion::AbsolutePositionLeverArmMeasurement::getResidual ( State const &  s ) const

inline

References xrt_fusion::WorldDirectionMeasurement< State >::getResidual(), and xrt_fusion::WorldDirectionMeasurement< State >::predictMeasurement().

predictMeasurement()

types::Vector<3> xrt_fusion::AbsolutePositionLeverArmMeasurement::predictMeasurement ( State const &  s ) const

inline

Field Documentation

Dimension

constexpr size_t xrt_fusion::AbsolutePositionLeverArmMeasurement::Dimension = 3

static

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

• auxiliary/tracking/t_fusion.hpp