PoseStateExponentialMap.h File Reference

Header defining a state that uses the "Exponential Map" rotation formalism" instead of the "internal incremental rotation, externalized quaternion" representation. More...

#include "FlexibleKalmanBase.h"
#include "MatrixExponentialMap.h"

Go to the source code of this file.

Namespaces
	osvr
	The main namespace for all C++ elements of the framework, internal and external.
	osvr::kalman
	Header-only framework for building Kalman-style filters, prediction, and sensor fusion.

Functions
StateSquareMatrix	osvr::kalman::pose_exp_map::stateTransitionMatrix (double dt)
StateVector	osvr::kalman::pose_exp_map::applyVelocity (StateVector const &state, double dt)
	Computes A(deltaT)xhat(t-deltaT) More...
template<typename OutputStream >
OutputStream &	osvr::kalman::pose_exp_map::operator<< (OutputStream &os, State const &state)
Accessors to blocks in the state vector.
StateVectorBlock3	osvr::kalman::pose_exp_map::position (StateVector &vec)
ConstStateVectorBlock3	osvr::kalman::pose_exp_map::position (StateVector const &vec)
StateVectorBlock3	osvr::kalman::pose_exp_map::orientation (StateVector &vec)
ConstStateVectorBlock3	osvr::kalman::pose_exp_map::orientation (StateVector const &vec)
StateVectorBlock3	osvr::kalman::pose_exp_map::velocity (StateVector &vec)
ConstStateVectorBlock3	osvr::kalman::pose_exp_map::velocity (StateVector const &vec)
StateVectorBlock3	osvr::kalman::pose_exp_map::angularVelocity (StateVector &vec)
ConstStateVectorBlock3	osvr::kalman::pose_exp_map::angularVelocity (StateVector const &vec)
StateVectorBlock6	osvr::kalman::pose_exp_map::velocities (StateVector &vec)
	both translational and angular velocities

Detailed Description

Header defining a state that uses the "Exponential Map" rotation formalism" instead of the "internal incremental rotation, externalized quaternion" representation.

Date

2015

Author

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

Definition in file PoseStateExponentialMap.h.