sba::Con2dP2 Class Reference
#include <spa2d.h>
List of all members.
Public Member Functions |
| double | calcErr (const Node2d &nd0, const Node2d &nd1) |
| | calculates projection error and stores it in <err>
|
| double | calcErrDist (const Node2d &nd0, const Node2d &nd1) |
| | calculate error in distance only, no weighting
|
| void | setJacobians (std::vector< Node2d, Eigen::aligned_allocator< Node2d > > &nodes) |
Public Attributes |
| double | amean |
| Eigen::Matrix< double, 3, 1 > | err |
| | error
|
| bool | isValid |
| | valid or not (could be out of bounds)
|
| Eigen::Matrix< double, 3, 3 > | J0 |
| | jacobian with respect to frames; uses dR'/dq from Node2d calculation
|
| Eigen::Matrix< double, 3, 3 > | J0t |
| Eigen::Matrix< double, 3, 3 > | J1 |
| Eigen::Matrix< double, 3, 3 > | J1t |
| int | nd1 |
| | Node2d index for the second node.
|
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW int | ndr |
| | Reference pose index.
|
| Eigen::Matrix< double, 3, 3 > | prec |
| Eigen::Vector2d | tmean |
| | Mean vector, quaternion (inverse) and precision matrix for this constraint.
|
Static Public Attributes |
| static const double | qScale = 1.0 |
Detailed Description
CONP2 holds a constraint measurement of a pose to a pose. They are a repository for links between poses within a frame, with aux info such as jacobians
Definition at line 141 of file spa2d.h.
Member Function Documentation
| double sba::Con2dP2::calcErr |
( |
const Node2d & |
nd0, |
|
|
const Node2d & |
nd1 | |
|
) |
| | [inline] |
calculates projection error and stores it in <err>
Definition at line 152 of file spa2d.cpp.
| double sba::Con2dP2::calcErrDist |
( |
const Node2d & |
nd0, |
|
|
const Node2d & |
nd1 | |
|
) |
| | |
calculate error in distance only, no weighting
Definition at line 167 of file spa2d.cpp.
| void sba::Con2dP2::setJacobians |
( |
std::vector< Node2d, Eigen::aligned_allocator< Node2d > > & |
nodes |
) |
|
dpc/dq = dR'/dq [pw-t], in homogeneous form, with q a quaternion param dpc/dx = -R' * [1 0 0]', in homogeneous form, with x a translation param d(px/pz)/du = [ pz dpx/du - px dpz/du ] / pz^2, works for all variables
Definition at line 90 of file spa2d.cpp.
Member Data Documentation
valid or not (could be out of bounds)
Definition at line 185 of file spa2d.h.
jacobian with respect to frames; uses dR'/dq from Node2d calculation
Definition at line 167 of file spa2d.h.
Reference pose index.
Definition at line 147 of file spa2d.h.
scaling factor for quaternion derivatives relative to translational ones; not sure if this is needed, it's close to 1.0
Definition at line 171 of file spa2d.h.
Mean vector, quaternion (inverse) and precision matrix for this constraint.
Definition at line 153 of file spa2d.h.
The documentation for this class was generated from the following files:
