xrt_fusion::WorldDirectionMeasurement< State > Class Template Reference

For things like accelerometers, which on some level measure the local vector of a world direction. More...

#include <tracking/t_fusion.hpp>

Inheritance diagram for xrt_fusion::WorldDirectionMeasurement< State >:

Collaboration diagram for xrt_fusion::WorldDirectionMeasurement< State >:

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

Public Member Functions
	WorldDirectionMeasurement (types::Vector< 3 > const &direction, types::Vector< 3 > const &reference, types::Vector< 3 > const &variance)
MeasurementSquareMatrix const &	getCovariance (State const &)
types::Vector< 3 >	predictMeasurement (State const &s) const
MeasurementVector	getResidual (MeasurementVector const &predictedMeasurement, State const &s) const
MeasurementVector	getResidual (State const &s) const

Static Public Attributes
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW constexpr size_t	Dimension = 3

Detailed Description

template<typename State>
class xrt_fusion::WorldDirectionMeasurement< State >

For things like accelerometers, which on some level measure the local vector of a world direction.

Member Typedef Documentation

MeasurementSquareMatrix

template<typename State >

using xrt_fusion::WorldDirectionMeasurement< State >::MeasurementSquareMatrix = types::SquareMatrix<Dimension>

MeasurementVector

template<typename State >

using xrt_fusion::WorldDirectionMeasurement< State >::MeasurementVector = types::Vector<Dimension>

Constructor & Destructor Documentation

WorldDirectionMeasurement()

template<typename State >

xrt_fusion::WorldDirectionMeasurement< State >::WorldDirectionMeasurement ( types::Vector< 3 > const &  direction, types::Vector< 3 > const &  reference, types::Vector< 3 > const &  variance  )

inline

Member Function Documentation

getCovariance()

template<typename State >

MeasurementSquareMatrix const& xrt_fusion::WorldDirectionMeasurement< State >::getCovariance ( State const &  )

inline

Referenced by xrt_fusion::WorldDirectionMeasurement< State >::getResidual().

getResidual() [1/2]

template<typename State >

MeasurementVector xrt_fusion::WorldDirectionMeasurement< State >::getResidual ( MeasurementVector const &  predictedMeasurement, State const &  s  ) const

inline

Referenced by xrt_fusion::WorldDirectionMeasurement< State >::getResidual(), xrt_fusion::BiasedGyroMeasurement::getResidual(), and xrt_fusion::AbsolutePositionLeverArmMeasurement::getResidual().

getResidual() [2/2]

template<typename State >

MeasurementVector xrt_fusion::WorldDirectionMeasurement< State >::getResidual ( State const &  s ) const

inline

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

predictMeasurement()

template<typename State >

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

inline

Referenced by xrt_fusion::WorldDirectionMeasurement< State >::getResidual(), xrt_fusion::BiasedGyroMeasurement::getResidual(), and xrt_fusion::AbsolutePositionLeverArmMeasurement::getResidual().

Field Documentation

Dimension

template<typename State >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW constexpr size_t xrt_fusion::WorldDirectionMeasurement< State >::Dimension = 3

static

Referenced by xrt_fusion::WorldDirectionMeasurement< State >::getResidual().

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

• auxiliary/tracking/t_fusion.hpp