covariance_estimation.cpp File Reference

#include "covariance_estimation.h"
#include <iostream>
#include <fstream>

Include dependency graph for covariance_estimation.cpp:

Go to the source code of this file.

Functions
Vector6d	absManhattanDistance (const Eigen::Isometry3d &tf1, const Eigen::Isometry3d &tf2)
InfoMatType	computeEmpiricalInformationMatrix (const Matrix6Xd &measurements, const Matrix6Xd &errors, const Vector6d &currentMeasurement, const Vector6d &stdDeviation)
Vector6d	toVectorScaledAxis (Vector6d vecMQT)
Vector6d	toVectorScaledAxis (const Eigen::Isometry3d &tf)

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Function Documentation

Vector6d absManhattanDistance	(	const Eigen::Isometry3d &	tf1,
		const Eigen::Isometry3d &	tf2
	)		[inline]

Definition at line 34 of file covariance_estimation.cpp.

InfoMatType computeEmpiricalInformationMatrix	(	const Matrix6Xd &	measurements,
		const Matrix6Xd &	errors,
		const Vector6d &	currentMeasurement,
		const Vector6d &	stdDeviation
	)

FIXME: Why are the results worse than without inverse, which is wrong?

Definition at line 41 of file covariance_estimation.cpp.

Vector6d toVectorScaledAxis

(

Vector6d

vecMQT

)

Definition at line 6 of file covariance_estimation.cpp.

Vector6d toVectorScaledAxis

(

const Eigen::Isometry3d &

tf

)

Definition at line 28 of file covariance_estimation.cpp.