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osvr::kalman::PoseConstantVelocityProcessModel Class Reference

A constant-velocity model for a 6DOF pose (with velocities) More...

#include <osvr/Kalman/PoseConstantVelocity.h>

Public Member Functions

StateSquareMatrix getStateTransitionMatrix (State const &, double dt) const
 Also known as the "process model jacobian" in TAG, this is A.
 
StateSquareMatrix getSampledProcessNoiseCovariance (double dt) const
 
StateVector computeEstimate (State &state, double dt) const
 

Detailed Description

A constant-velocity model for a 6DOF pose (with velocities)

Definition at line 40 of file PoseConstantVelocity.h.

Member Function Documentation

StateSquareMatrix osvr::kalman::PoseConstantVelocityProcessModel::getSampledProcessNoiseCovariance ( double  dt) const
inline

This is Q(deltaT) - the Sampled Process Noise Covariance

Returns
a matrix of dimension n x n.

Like all covariance matrices, it is real symmetrical (self-adjoint), so .selfAdjointView<Eigen::Upper>() might provide useful performance enhancements in some algorithms.

Definition at line 79 of file PoseConstantVelocity.h.

StateVector osvr::kalman::PoseConstantVelocityProcessModel::computeEstimate ( State &  state,
double  dt 
) const
inline

Returns a 12-element vector containing a predicted state based on a constant velocity process model.

Definition at line 99 of file PoseConstantVelocity.h.

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