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.

Classes
class	osvr::kalman::pose_exp_map::State

Namespaces
	osvr
	<
	osvr::kalman
	Header-only framework for building Kalman-style filters, prediction, and sensor fusion.

Typedefs
using	osvr::kalman::pose_exp_map::Dimension = types::DimensionConstant< 12 >
using	osvr::kalman::pose_exp_map::StateVector = types::DimVector< Dimension >
using	osvr::kalman::pose_exp_map::StateVectorBlock3 = StateVector::FixedSegmentReturnType< 3 >::Type
using	osvr::kalman::pose_exp_map::ConstStateVectorBlock3 = StateVector::ConstFixedSegmentReturnType< 3 >::Type
using	osvr::kalman::pose_exp_map::StateVectorBlock6 = StateVector::FixedSegmentReturnType< 6 >::Type
using	osvr::kalman::pose_exp_map::StateSquareMatrix = types::DimSquareMatrix< Dimension >

Functions
StateSquareMatrix	osvr::kalman::pose_exp_map::stateTransitionMatrix (double dt)
double	osvr::kalman::pose_exp_map::computeAttenuation (double damping, double dt)
StateSquareMatrix	osvr::kalman::pose_exp_map::stateTransitionMatrixWithVelocityDamping (double dt, double damping)
StateVector	osvr::kalman::pose_exp_map::applyVelocity (StateVector const &state, double dt)
	Computes A(deltaT)xhat(t-deltaT) More...
void	osvr::kalman::pose_exp_map::dampenVelocities (StateVector &state, double damping, double dt)
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.

Todo:

incomplete

Date

2015

Author

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

Definition in file PoseStateExponentialMap.h.