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Namespaces | |
| namespace | pose_graph |
Functions | |
| gm::Point | pose_graph::computeBarycenter (const sm::LaserScan &scan) |
| Point | pose_graph::convertToPoint (const Point32 &p) |
| double | pose_graph::euclideanDistance (const Point &p1, const Point &p2) |
| double | pose_graph::euclideanDistance (const gm::Pose2D &p1, const gm::Pose2D &p2, const double mult) |
| geometry_msgs::Pose | pose_graph::getPose (const PoseConstraint &c) |
| Given a pose constraint, return the expected relative pose. | |
| double | pose_graph::length (const PoseConstraint &constraint) |
| Norm of mean translation part of a Pose constraint. | |
| double | pose_graph::length (const Vector3d &v) |
| double | pose_graph::length (const gm::Point &p) |
| PoseConstraint | pose_graph::makeConstraint (const Affine3d &trans, const Eigen3::Matrix< double, 6, 6 > &prec) |
| PrecisionMatrix | pose_graph::makePrecisionMatrix (const double x_prec, const double y_prec, const double theta_prec) |
| Given precisions of x, y, and theta (yaw), construct a 6x6 diagonal precision matrix Precisions of unspecified components (z, roll, pitch) are set to 1. Theta precision is converted to precision of z component of quaternion using a crude approximation. | |
| PrecisionMatrix | pose_graph::makePrecisionMatrix (const double x_prec, const double y_prec, const double xy_prec, const double theta_prec) |
| Given precisions of x, y, and theta (yaw), as well as xy precision, construct a 6x6 diagonal precision matrix Precisions of unspecified components (z, roll, pitch) are set to 1. Theta precision is converted to precision of z component of quaternion using a crude approximation. | |
| ostream & | pose_graph::operator<< (ostream &str, const PoseConstraint &constraint) |
Detailed Description
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Implementation of geometry.h
Definition in file geometry.cpp.