#include <BearingS2.h>
Public Member Functions | |
Constructors | |
BearingS2 () | |
BearingS2 (double azimuth, double elevation) | |
BearingS2 (const Rot2 &azimuth, const Rot2 &elevation) | |
const Rot2 & | azimuth () const |
const Rot2 & | elevation () const |
Testable | |
void | print (const std::string &s="") const |
bool | equals (const BearingS2 &x, double tol=1e-9) const |
Static Public Member Functions | |
Measurements | |
template<class POSE , class TARGET > | |
static BearingS2 | fromDownwardsObservation (const POSE &A, const TARGET &B) |
static BearingS2 | fromDownwardsObservation (const Pose3 &A, const Point3 &B) |
static BearingS2 | fromForwardObservation (const Pose3 &A, const Point3 &B) |
Static Public Attributes | |
static const size_t | dimension = 2 |
Protected Attributes | |
Rot2 | azimuth_ |
Rot2 | elevation_ |
Manifold | |
size_t | dim () const |
Dimensionality of tangent space = 2 DOF. More... | |
BearingS2 | retract (const Vector &v) const |
Vector | localCoordinates (const BearingS2 &p2) const |
Local coordinates of BearingS2 manifold neighborhood around current pose. More... | |
static size_t | Dim () |
Dimensionality of tangent space = 2 DOF - used to autodetect sizes. More... | |
Definition at line 18 of file BearingS2.h.
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inline |
Default constructor - straight ahead
Definition at line 29 of file BearingS2.h.
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inline |
Build from components
Definition at line 32 of file BearingS2.h.
Definition at line 35 of file BearingS2.h.
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inline |
Definition at line 39 of file BearingS2.h.
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inlinestatic |
Dimensionality of tangent space = 2 DOF - used to autodetect sizes.
Definition at line 75 of file BearingS2.h.
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inline |
Dimensionality of tangent space = 2 DOF.
Definition at line 78 of file BearingS2.h.
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inline |
Definition at line 40 of file BearingS2.h.
assert equality up to a tolerance
Definition at line 22 of file BearingS2.cpp.
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inlinestatic |
Observation function for downwards-facing camera
Definition at line 51 of file BearingS2.h.
Definition at line 27 of file BearingS2.cpp.
Observation function with standard, forwards-facing camera
Definition at line 49 of file BearingS2.cpp.
Local coordinates of BearingS2 manifold neighborhood around current pose.
Definition at line 71 of file BearingS2.cpp.
void gtsam::BearingS2::print | ( | const std::string & | s = "" | ) | const |
print with optional string
Definition at line 17 of file BearingS2.cpp.
Retraction from R^2 to BearingS2 manifold neighborhood around current pose Tangent space parameterization is [azimuth elevation]
Definition at line 65 of file BearingS2.cpp.
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protected |
Definition at line 20 of file BearingS2.h.
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static |
Definition at line 23 of file BearingS2.h.
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protected |
Definition at line 20 of file BearingS2.h.