Public Member Functions | Public Attributes
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.

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.


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.


Member Data Documentation

error

Definition at line 370 of file sba.h.

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.

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.

Node index for the second node.

Definition at line 358 of file sba.h.

Scale variable index.

Definition at line 361 of file sba.h.

Weight for this constraint.

Definition at line 367 of file sba.h.


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


sba
Author(s): Kurt Konolige, Helen Oleynikova
autogenerated on Thu Jan 2 2014 12:12:09