sba::ConScale Class Reference

#include <sba.h>

List of all members.

Public Member Functions
double	calcErr (const Node &nd0, const Node &nd1, double alpha)
	calculates projection error and stores it in <err>
void	setJacobians (std::vector< Node, Eigen::aligned_allocator< Node > > &nodes)
	jacobians are computed from (ti - tj)^2 - a*kij = 0
Public Attributes
double	err
	error
bool	isValid
	valid or not (could be out of bounds)
Eigen::Vector3d	J0
Eigen::Vector3d	J1
double	ks
	Scale factor for this constraint.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW int	nd0
	Reference pose index.
int	nd1
	Node index for the second node.
int	sv
	Scale variable index.
double	w
	Weight for this constraint.

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Detailed Description

CONSCALE holds a constraint measurement on the scale of a pose-pose constraint, in a scale group

Definition at line 349 of file sba.h.

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Member Function Documentation

double sba::ConScale::calcErr	(	const Node &	nd0,
		const Node &	nd1,
		double	alpha
	)			[inline]

calculates projection error and stores it in <err>

Definition at line 632 of file spa.cpp.

void sba::ConScale::setJacobians

(

std::vector< Node, Eigen::aligned_allocator< Node > > &

nodes

)

jacobians are computed from (ti - tj)^2 - a*kij = 0

Definition at line 383 of file spa.cpp.

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Member Data Documentation

double sba::ConScale::err

error

Definition at line 370 of file sba.h.

bool sba::ConScale::isValid

valid or not (could be out of bounds)

Definition at line 386 of file sba.h.

Eigen::Vector3d sba::ConScale::J0

jacobian with respect to reference frame: -2(t1 - t0)

Definition at line 376 of file sba.h.

Eigen::Vector3d sba::ConScale::J1

jacobian with respect to second frame: 2(t1 - t0)

Definition at line 380 of file sba.h.

double sba::ConScale::ks

Scale factor for this constraint.

Definition at line 364 of file sba.h.

EIGEN_MAKE_ALIGNED_OPERATOR_NEW int sba::ConScale::nd0

Reference pose index.

Definition at line 355 of file sba.h.

int sba::ConScale::nd1

Node index for the second node.

Definition at line 358 of file sba.h.

int sba::ConScale::sv

Scale variable index.

Definition at line 361 of file sba.h.

double sba::ConScale::w

Weight for this constraint.

Definition at line 367 of file sba.h.

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

• sba.h
• spa.cpp