OSVR Framework (Internal Development Docs)  0.6-1962-g59773924
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Macros Modules Pages
Public Types | Public Member Functions | Static Public Attributes | List of all members
osvr::kalman::AngularVelocityBase Class Reference
Inheritance diagram for osvr::kalman::AngularVelocityBase:
osvr::kalman::AngularVelocityMeasurement< orient_externalized_rotation::State > osvr::kalman::AngularVelocityMeasurement< pose_externalized_rotation::State >

Public Types

using MeasurementVector = types::Vector< DIMENSION >
 
using MeasurementDiagonalMatrix = types::DiagonalMatrix< DIMENSION >
 

Public Member Functions

 AngularVelocityBase (MeasurementVector const &vel, MeasurementVector const &variance)
 
template<typename State >
MeasurementDiagonalMatrix const & getCovariance (State const &)
 
template<typename State >
MeasurementVector getResidual (State const &s) const
 
void setMeasurement (MeasurementVector const &vel)
 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

Definition at line 43 of file AngularVelocityMeasurement.h.

Member Function Documentation

template<typename State >
MeasurementVector osvr::kalman::AngularVelocityBase::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 .angularVelocity()

Definition at line 64 of file AngularVelocityMeasurement.h.

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