osvr::kalman::AbsolutePositionBase Class Reference

#include <osvr/Kalman/AbsolutePositionMeasurement.h>

Inheritance diagram for osvr::kalman::AbsolutePositionBase:

Public Types
using	MeasurementVector = types::Vector< DIMENSION >
using	MeasurementDiagonalMatrix = types::DiagonalMatrix< DIMENSION >
using	MeasurementMatrix = types::SquareMatrix< DIMENSION >

Public Member Functions
	AbsolutePositionBase (MeasurementVector const &pos, MeasurementVector const &variance)
template<typename State >
MeasurementMatrix	getCovariance (State const &) const
template<typename State >
MeasurementVector	getResidual (State const &s) const
void	setMeasurement (MeasurementVector const &pos)
	Convenience method to be able to store and re-use measurements.

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 45 of file AbsolutePositionMeasurement.h.

Member Function Documentation

template<typename State >

MeasurementVector osvr::kalman::AbsolutePositionBase::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 .position()

Definition at line 67 of file AbsolutePositionMeasurement.h.

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

• osvr/Kalman/AbsolutePositionMeasurement.h