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 Rot2 &	azimuth () const
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...

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:

• BearingS2.h
• BearingS2.cpp