#include </home/jenkins/root/workspace/OSVR-Core-Docs/plugins/unifiedvideoinertialtracker/IMUStateMeasurements.h>

Inheritance diagram for osvr::kalman::IMUOrientationMeasBase< PolicyT >:

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

using	MeasurementSquareMatrix = types::SquareMatrix< DIMENSION >

using	Policy = PolicyT
	Specifies which innovation computation and jacobian to use.

Public Member Functions
	IMUOrientationMeasBase (Eigen::Quaterniond const &quat, types::Vector< 3 > const &emVariance)
	Quat should already by in camera space!

template<typename State >
MeasurementSquareMatrix const &	getCovariance (State const &)

template<typename State >
MeasurementVector	getResidual (State const &s) const

template<typename State >
MeasurementVector	getResidual (MeasurementVector const &predictedMeasurement, State const &s) const

void	setMeasurement (Eigen::Quaterniond const &quat)
	Convenience method to be able to store and re-use measurements.

template<typename State >
types::Matrix< DIMENSION, 3 >	getJacobianBlock (State const &s) const

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

Detailed Description

template<typename PolicyT>
class osvr::kalman::IMUOrientationMeasBase< PolicyT >

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 441 of file IMUStateMeasurements.h.

Member Function Documentation

template<typename PolicyT >

template<typename State >

MeasurementVector osvr::kalman::IMUOrientationMeasBase< PolicyT >::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 470 of file IMUStateMeasurements.h.

template<typename PolicyT >

template<typename State >

types::Matrix<DIMENSION, 3> osvr::kalman::IMUOrientationMeasBase< PolicyT >::getJacobianBlock ( State const & s ) 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 524 of file IMUStateMeasurements.h.

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

plugins/unifiedvideoinertialtracker/IMUStateMeasurements.h

Public Types

Public Member Functions

Static Public Attributes

Detailed Description

template<typename PolicyT> class osvr::kalman::IMUOrientationMeasBase< PolicyT >

Member Function Documentation

template<typename PolicyT>
class osvr::kalman::IMUOrientationMeasBase< PolicyT >