Static Public Attributes | Protected Attributes | List of all members
gtsam::BearingS2 Class Reference

#include <BearingS2.h>

Public Member Functions

Constructors
 BearingS2 ()
 
 BearingS2 (double azimuth, double elevation)
 
 BearingS2 (const Rot2 &azimuth, const Rot2 &elevation)
 
const Rot2azimuth () const
 
const Rot2elevation () 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...
 

Detailed Description

Definition at line 18 of file BearingS2.h.

Constructor & Destructor Documentation

◆ BearingS2() [1/3]

gtsam::BearingS2::BearingS2 ( )
inline

Default constructor - straight ahead

Definition at line 29 of file BearingS2.h.

◆ BearingS2() [2/3]

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

Build from components

Definition at line 32 of file BearingS2.h.

◆ BearingS2() [3/3]

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

Definition at line 35 of file BearingS2.h.

Member Function Documentation

◆ azimuth()

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

Definition at line 39 of file BearingS2.h.

◆ Dim()

static size_t gtsam::BearingS2::Dim ( )
inlinestatic

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

Definition at line 75 of file BearingS2.h.

◆ dim()

size_t gtsam::BearingS2::dim ( ) const
inline

Dimensionality of tangent space = 2 DOF.

Definition at line 78 of file BearingS2.h.

◆ elevation()

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

Definition at line 40 of file BearingS2.h.

◆ equals()

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.

◆ fromDownwardsObservation() [1/2]

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 51 of file BearingS2.h.

◆ fromDownwardsObservation() [2/2]

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

Definition at line 27 of file BearingS2.cpp.

◆ fromForwardObservation()

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.

◆ localCoordinates()

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.

◆ print()

void gtsam::BearingS2::print ( const std::string &  s = "") const

print with optional string

Definition at line 17 of file BearingS2.cpp.

◆ retract()

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.

Member Data Documentation

◆ azimuth_

Rot2 gtsam::BearingS2::azimuth_
protected

Definition at line 20 of file BearingS2.h.

◆ dimension

const size_t gtsam::BearingS2::dimension = 2
static

Definition at line 23 of file BearingS2.h.

◆ elevation_

Rot2 gtsam::BearingS2::elevation_
protected

Definition at line 20 of file BearingS2.h.


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


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:46:15