DOF6::Rotation2< TYPE > Class Template Reference

#include <rotation.h>

List of all members.

Public Member Functions
void	calc ()
int	getMainAxis () const
const Matrix &	getRotationAxis () const
Vector	getVariance () const
void	operator+= (const Rotation2 &r)
	Rotation2 ()
	Rotation2 (const Vector &n_old, const Vector &n_new, const Vector &var, const float weight)
void	set (const Vector &n_old, const Vector &n_new, const Vector &var, const float weight)
Private Types
typedef Eigen::EigenSolver < Matrix >	EigenSolver
typedef Eigen::Matrix< TYPE, 3, 3 >	Matrix
typedef Eigen::Matrix< TYPE, 3, 1 >	Vector
typedef Eigen::Matrix< TYPE, 2, 1 >	Vector2
Private Attributes
TYPE	accumulated_weight_
Matrix	axis_
Matrix	covariance_
bool	initialized_
Vector	var_
Matrix	variance_

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Detailed Description

template<typename TYPE>
class DOF6::Rotation2< TYPE >

Definition at line 297 of file rotation.h.

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Member Typedef Documentation

template<typename TYPE >

typedef Eigen::EigenSolver<Matrix> DOF6::Rotation2< TYPE >::EigenSolver [private]

Todo:

: take faster one

Definition at line 303 of file rotation.h.

template<typename TYPE >

typedef Eigen::Matrix<TYPE,3,3> DOF6::Rotation2< TYPE >::Matrix [private]

Definition at line 299 of file rotation.h.

template<typename TYPE >

typedef Eigen::Matrix<TYPE,3,1> DOF6::Rotation2< TYPE >::Vector [private]

Definition at line 300 of file rotation.h.

template<typename TYPE >

typedef Eigen::Matrix<TYPE,2,1> DOF6::Rotation2< TYPE >::Vector2 [private]

Definition at line 301 of file rotation.h.

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Constructor & Destructor Documentation

template<typename TYPE >

DOF6::Rotation2< TYPE >::Rotation2

(

)

[inline]

Definition at line 314 of file rotation.h.

template<typename TYPE >

DOF6::Rotation2< TYPE >::Rotation2	(	const Vector &	n_old,
		const Vector &	n_new,
		const Vector &	var,
		const float	weight
	)		[inline]

Definition at line 322 of file rotation.h.

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Member Function Documentation

template<typename TYPE >

void DOF6::Rotation2< TYPE >::calc

(

)

[inline]

alpha can be resolved from rotation angles and normals as follows: using Lagrange-Identity follows:

Definition at line 389 of file rotation.h.

template<typename TYPE >

int DOF6::Rotation2< TYPE >::getMainAxis

(

)

const [inline]

Definition at line 412 of file rotation.h.

template<typename TYPE >

const Matrix& DOF6::Rotation2< TYPE >::getRotationAxis

(

)

const [inline]

Definition at line 405 of file rotation.h.

template<typename TYPE >

Vector DOF6::Rotation2< TYPE >::getVariance

(

)

const [inline]

Definition at line 420 of file rotation.h.

template<typename TYPE >

void DOF6::Rotation2< TYPE >::operator+=

(

const Rotation2< TYPE > &

r

)

[inline]

updating covariance after "Merging Gaussian Distributions for Object Localization in Multi-Robot Systems"

Definition at line 370 of file rotation.h.

template<typename TYPE >

void DOF6::Rotation2< TYPE >::set	(	const Vector &	n_old,
		const Vector &	n_new,
		const Vector &	var,
		const float	weight
	)		[inline]

Definition at line 331 of file rotation.h.

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Member Data Documentation

template<typename TYPE >

TYPE DOF6::Rotation2< TYPE >::accumulated_weight_ [private]

Definition at line 308 of file rotation.h.

template<typename TYPE >

Matrix DOF6::Rotation2< TYPE >::axis_ [private]

Definition at line 306 of file rotation.h.

template<typename TYPE >

Matrix DOF6::Rotation2< TYPE >::covariance_ [private]

Definition at line 305 of file rotation.h.

template<typename TYPE >

bool DOF6::Rotation2< TYPE >::initialized_ [private]

Definition at line 310 of file rotation.h.

template<typename TYPE >

Vector DOF6::Rotation2< TYPE >::var_ [private]

Definition at line 307 of file rotation.h.

template<typename TYPE >

Matrix DOF6::Rotation2< TYPE >::variance_ [private]

Definition at line 305 of file rotation.h.

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

• rotation.h