sba::ConP2 Class Reference
#include <sba.h>
List of all members.
Public Member Functions |
| double | calcErr (const Node &nd0, const Node &nd1) |
| | calculates projection error and stores it in <err>
|
| double | calcErrDist (const Node &nd0, const Node &nd1) |
| | calculate error in distance only, no weighting
|
| void | setJacobians (std::vector< Node, Eigen::aligned_allocator< Node > > &nodes) |
Public Attributes |
| Eigen::Matrix< double, 6, 1 > | err |
| | error
|
| bool | isValid |
| | valid or not (could be out of bounds)
|
| Eigen::Matrix< double, 6, 6 > | J0 |
| | jacobian with respect to frames; uses dR'/dq from Node calculation
|
| Eigen::Matrix< double, 6, 6 > | J0t |
| Eigen::Matrix< double, 6, 6 > | J1 |
| Eigen::Matrix< double, 6, 6 > | J1t |
| int | nd1 |
| | Node index for the second node.
|
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW int | ndr |
| | Reference pose index.
|
| Eigen::Matrix< double, 6, 6 > | prec |
| Eigen::Quaternion< double > | qpmean |
| Eigen::Vector3d | 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 297 of file sba.h.
Member Function Documentation
| double sba::ConP2::calcErr |
( |
const Node & |
nd0, |
|
|
const Node & |
nd1 | |
|
) |
| | [inline] |
calculates projection error and stores it in <err>
Definition at line 589 of file spa.cpp.
| double sba::ConP2::calcErrDist |
( |
const Node & |
nd0, |
|
|
const Node & |
nd1 | |
|
) |
| | |
calculate error in distance only, no weighting
Definition at line 619 of file spa.cpp.
| void sba::ConP2::setJacobians |
( |
std::vector< Node, Eigen::aligned_allocator< Node > > & |
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 224 of file spa.cpp.
Member Data Documentation
error
Definition at line 315 of file sba.h.
valid or not (could be out of bounds)
Definition at line 342 of file sba.h.
jacobian with respect to frames; uses dR'/dq from Node calculation
Definition at line 324 of file sba.h.
Node index for the second node.
Definition at line 306 of file sba.h.
Reference pose index.
Definition at line 303 of file sba.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 328 of file sba.h.
Mean vector, quaternion (inverse) and precision matrix for this constraint.
Definition at line 309 of file sba.h.
The documentation for this class was generated from the following files:
