gtsam::BearingS2 Class Reference

#include <BearingS2.h>

Public Member Functions
const Rot2 &	azimuth () const
	BearingS2 ()
	BearingS2 (double azimuth, double elevation)
	BearingS2 (const Rot2 &azimuth, const Rot2 &elevation)
const Rot2 &	elevation () const
Testable
void	print (const std::string &s="") const
bool	equals (const BearingS2 &x, double tol=1e-9) const

Static Public Member Functions
Measurements
template<class POSE , class TARGET >
static BearingS2	fromDownwardsObservation (const POSE &A, const TARGET &B)
static BearingS2	fromDownwardsObservation (const Pose3 &A, const Point3 &B)
static BearingS2	fromForwardObservation (const Pose3 &A, const Point3 &B)

Static Public Attributes
static const size_t	dimension = 2

Protected Attributes
Rot2	azimuth_
Rot2	elevation_

Manifold
size_t	dim () const
	Dimensionality of tangent space = 2 DOF. More...
BearingS2	retract (const Vector &v) const
Vector	localCoordinates (const BearingS2 &p2) const
	Local coordinates of BearingS2 manifold neighborhood around current pose. More...
static size_t	Dim ()
	Dimensionality of tangent space = 2 DOF - used to autodetect sizes. More...

Advanced Interface
class	boost::serialization::access
template<class Archive >
void	serialize (Archive &ar, const unsigned int)

Detailed Description

Definition at line 18 of file BearingS2.h.

Constructor & Destructor Documentation

gtsam::BearingS2::BearingS2 ( )

inline

Default constructor - straight ahead

Definition at line 28 of file BearingS2.h.

gtsam::BearingS2::BearingS2 ( double  azimuth, double  elevation  )

inline

Build from components

Definition at line 31 of file BearingS2.h.

gtsam::BearingS2::BearingS2 ( const Rot2 &  azimuth, const Rot2 &  elevation  )

inline

Definition at line 34 of file BearingS2.h.

Member Function Documentation

const Rot2& gtsam::BearingS2::azimuth ( ) const

inline

Definition at line 38 of file BearingS2.h.

static size_t gtsam::BearingS2::Dim ( )

inlinestatic

Dimensionality of tangent space = 2 DOF - used to autodetect sizes.

Definition at line 74 of file BearingS2.h.

size_t gtsam::BearingS2::dim ( ) const

inline

Dimensionality of tangent space = 2 DOF.

Definition at line 77 of file BearingS2.h.

const Rot2& gtsam::BearingS2::elevation ( ) const

inline

Definition at line 39 of file BearingS2.h.

bool gtsam::BearingS2::equals	(	const BearingS2 &	x,
		double	tol = 1e-9
	)		const

assert equality up to a tolerance

Definition at line 22 of file BearingS2.cpp.

template<class POSE , class TARGET >

static BearingS2 gtsam::BearingS2::fromDownwardsObservation ( const POSE &  A, const TARGET &  B  )

inlinestatic

Observation function for downwards-facing camera

Definition at line 50 of file BearingS2.h.

BearingS2 gtsam::BearingS2::fromDownwardsObservation ( const Pose3 &  A, const Point3 &  B  )

static

Definition at line 27 of file BearingS2.cpp.

BearingS2 gtsam::BearingS2::fromForwardObservation ( const Pose3 &  A, const Point3 &  B  )

static

Observation function with standard, forwards-facing camera

Definition at line 49 of file BearingS2.cpp.

Vector gtsam::BearingS2::localCoordinates

(

const BearingS2 &

p2

)

const

Local coordinates of BearingS2 manifold neighborhood around current pose.

Definition at line 71 of file BearingS2.cpp.

void gtsam::BearingS2::print

(

const std::string &

s = ""

)

const

print with optional string

Definition at line 17 of file BearingS2.cpp.

BearingS2 gtsam::BearingS2::retract

(

const Vector &

v

)

const

Retraction from R^2 to BearingS2 manifold neighborhood around current pose Tangent space parameterization is [azimuth elevation]

Definition at line 65 of file BearingS2.cpp.

template<class Archive >

void gtsam::BearingS2::serialize ( Archive &  ar, const unsigned  int  )

inlineprivate

Definition at line 95 of file BearingS2.h.

Friends And Related Function Documentation

friend class boost::serialization::access

friend

Definition at line 93 of file BearingS2.h.

Member Data Documentation

Rot2 gtsam::BearingS2::azimuth_

protected

Definition at line 20 of file BearingS2.h.

const size_t gtsam::BearingS2::dimension = 2

static

Definition at line 23 of file BearingS2.h.

Rot2 gtsam::BearingS2::elevation_

protected

Definition at line 20 of file BearingS2.h.

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

• BearingS2.h
• BearingS2.cpp