osvr::kalman::AbsoluteOrientationBase Class Reference

#include <osvr/Kalman/AbsoluteOrientationMeasurement.h>

Inheritance diagram for osvr::kalman::AbsoluteOrientationBase:

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

Public Member Functions
	AbsoluteOrientationBase (Eigen::Quaterniond const &quat, types::Vector< 3 > const &emVariance)
template<typename State >
MeasurementSquareMatrix const &	getCovariance (State const &)
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

Static Public Attributes
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW const types::DimensionType	DIMENSION = 3

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.

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

• osvr/Kalman/AbsoluteOrientationMeasurement.h