Public Member Functions |
double | calcErr (const Node2d &nd0, const Node2d &nd1) |
| calculates projection error and stores it in <err>
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double | calcErrDist (const Node2d &nd0, const Node2d &nd1) |
| calculate error in distance only, no weighting
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void | setJacobians (std::vector< Node2d, Eigen::aligned_allocator< Node2d > > &nodes) |
Public Attributes |
double | amean |
Eigen::Matrix< double, 3, 1 > | err |
| error
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bool | isValid |
| valid or not (could be out of bounds)
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Eigen::Matrix< double, 3, 3 > | J0 |
| jacobian with respect to frames; uses dR'/dq from Node2d calculation
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Eigen::Matrix< double, 3, 3 > | J0t |
Eigen::Matrix< double, 3, 3 > | J1 |
Eigen::Matrix< double, 3, 3 > | J1t |
int | nd1 |
| Node2d index for the second node.
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW int | ndr |
| Reference pose index.
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Eigen::Matrix< double, 3, 3 > | prec |
Eigen::Vector2d | tmean |
| Mean vector, quaternion (inverse) and precision matrix for this constraint.
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Static Public Attributes |
static const double | qScale = 1.0 |
CONP2 holds a constraint measurement of a pose to a pose. They are a repository for links between poses within a frame, with aux info such as jacobians
Definition at line 136 of file spa2d.h.