sba::ConP2 Class Reference

#include <sba.h>

Public Member Functions
double	calcErr (const Node &nd0, const Node &nd1)
	calculates projection error and stores it in <err> More...
double	calcErrDist (const Node &nd0, const Node &nd1)
	calculate error in distance only, no weighting More...
void	setJacobians (std::vector< Node, Eigen::aligned_allocator< Node > > &nodes)

Public Attributes
Eigen::Matrix< double, 6, 1 >	err
	error More...
bool	isValid
	valid or not (could be out of bounds) More...
Eigen::Matrix< double, 6, 6 >	J0
	jacobian with respect to frames; uses dR'/dq from Node calculation More...
Eigen::Matrix< double, 6, 6 >	J0t
Eigen::Matrix< double, 6, 6 >	J1
Eigen::Matrix< double, 6, 6 >	J1t
int	nd1
	Node index for the second node. More...
EIGEN_MAKE_ALIGNED_OPERATOR_NEW int	ndr
	Reference pose index. More...
Eigen::Matrix< double, 6, 6 >	prec
Eigen::Quaternion< double >	qpmean
Eigen::Vector3d	tmean
	Mean vector, quaternion (inverse) and precision matrix for this constraint. More...

Static Public Attributes
static constexpr double	qScale = 1.0

Detailed Description

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 297 of file sba.h.

Member Function Documentation

calcErr()

double sba::ConP2::calcErr ( const Node &  nd0, const Node &  nd1  )

inline

calculates projection error and stores it in <err>

Definition at line 586 of file spa.cpp.

calcErrDist()

double sba::ConP2::calcErrDist	(	const Node &	nd0,
		const Node &	nd1
	)

calculate error in distance only, no weighting

Definition at line 616 of file spa.cpp.

setJacobians()

void sba::ConP2::setJacobians

(

std::vector< Node, Eigen::aligned_allocator< Node > > &

nodes

)

dpc/dq = dR'/dq [pw-t], in homogeneous form, with q a quaternion paramdpc/dx = -R' * [1 0 0]', in homogeneous form, with x a translation paramd(px/pz)/du = [ pz dpx/du - px dpz/du ] / pz^2, works for all variables

Definition at line 221 of file spa.cpp.

Member Data Documentation

err

Eigen::Matrix<double,6,1> sba::ConP2::err

error

Definition at line 315 of file sba.h.

isValid

bool sba::ConP2::isValid

valid or not (could be out of bounds)

Definition at line 342 of file sba.h.

J0

Eigen::Matrix<double,6,6> sba::ConP2::J0

jacobian with respect to frames; uses dR'/dq from Node calculation

Definition at line 324 of file sba.h.

J0t

Eigen::Matrix<double,6,6> sba::ConP2::J0t

Definition at line 324 of file sba.h.

J1

Eigen::Matrix<double,6,6> sba::ConP2::J1

Definition at line 324 of file sba.h.

J1t

Eigen::Matrix<double,6,6> sba::ConP2::J1t

Definition at line 324 of file sba.h.

nd1

int sba::ConP2::nd1

Node index for the second node.

Definition at line 306 of file sba.h.

ndr

EIGEN_MAKE_ALIGNED_OPERATOR_NEW int sba::ConP2::ndr

Reference pose index.

Definition at line 303 of file sba.h.

prec

Eigen::Matrix<double,6,6> sba::ConP2::prec

Definition at line 311 of file sba.h.

qpmean

Eigen::Quaternion<double> sba::ConP2::qpmean

Definition at line 310 of file sba.h.

qScale

constexpr double sba::ConP2::qScale = 1.0

static

scaling factor for quaternion derivatives relative to translational ones; not sure if this is needed, it's close to 1.0

Definition at line 328 of file sba.h.

tmean

Eigen::Vector3d sba::ConP2::tmean

Mean vector, quaternion (inverse) and precision matrix for this constraint.

Definition at line 309 of file sba.h.

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

• sba.h
• spa.cpp