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osvr::kalman::AbsoluteOrientationBase Class Reference

#include <osvr/Kalman/AbsoluteOrientationMeasurement.h>

Inheritance diagram for osvr::kalman::AbsoluteOrientationBase:
osvr::kalman::AbsoluteOrientationMeasurement< pose_externalized_rotation::State >

Public Member Functions

template<typename State >
MeasurementVector getResidual (State const &s) const
 
void setMeasurement (Eigen::Quaterniond const &quat)
 Convenience method to be able to store and re-use measurements.
 
types::Matrix< DIMENSION, 3 > getJacobianBlock () const
 

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.

Definition at line 46 of file AbsoluteOrientationMeasurement.h.

Member Function Documentation

template<typename State >
MeasurementVector osvr::kalman::AbsoluteOrientationBase::getResidual ( State const &  s) const
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()

Definition at line 68 of file AbsoluteOrientationMeasurement.h.

types::Matrix<DIMENSION, 3> osvr::kalman::AbsoluteOrientationBase::getJacobianBlock ( ) const
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.

Definition at line 87 of file AbsoluteOrientationMeasurement.h.

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