gtsam::Event Class Reference

#include <Event.h>

Public Member Functions
bool	equals (const Event &other, double tol=1e-9) const
	Event ()
	Default Constructor. More...
	Event (double t, const Point3 &p)
	Constructor from time and location. More...
	Event (double t, double x, double y, double z)
	Constructor with doubles. More...
double	height (OptionalJacobian< 1, 4 > H={}) const
Vector4	localCoordinates (const Event &q) const
	Returns inverse retraction. More...
Point3	location () const
void	print (const std::string &s="") const
Event	retract (const Vector4 &v) const
	Updates a with tangent space delta. More...
double	time () const

Static Public Attributes
constexpr static auto	dimension = 4

Private Attributes
Point3	location_
	Location at time event was generated. More...
double	time_
	Time event was generated. More...

Detailed Description

A space-time event models an event that happens at a certain 3D location, at a certain time. One use for it is in sound-based or UWB-ranging tracking or SLAM, where we have "time of arrival" measurements at a set of sensors. The TOA functor below provides a measurement function for those applications.

Definition at line 37 of file Event.h.

Constructor & Destructor Documentation

Event() [1/3]

gtsam::Event::Event ( )

inline

Default Constructor.

Definition at line 45 of file Event.h.

Event() [2/3]

gtsam::Event::Event ( double  t, const Point3 &  p  )

inline

Constructor from time and location.

Definition at line 48 of file Event.h.

Event() [3/3]

gtsam::Event::Event ( double  t, double  x, double  y, double  z  )

inline

Constructor with doubles.

Definition at line 51 of file Event.h.

Member Function Documentation

equals()

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

equals with an tolerance

Definition at line 32 of file Event.cpp.

height()

double gtsam::Event::height ( OptionalJacobian< 1, 4 >  H = {} ) const

inline

Definition at line 58 of file Event.h.

localCoordinates()

Vector4 gtsam::Event::localCoordinates ( const Event &  q ) const

inline

Returns inverse retraction.

Definition at line 77 of file Event.h.

location()

Point3 gtsam::Event::location ( ) const

inline

Definition at line 55 of file Event.h.

print()

void gtsam::Event::print

(

const std::string &

s = ""

)

const

print with optional string

Definition at line 26 of file Event.cpp.

retract()

Event gtsam::Event::retract ( const Vector4 &  v ) const

inline

Updates a with tangent space delta.

Definition at line 72 of file Event.h.

time()

double gtsam::Event::time ( ) const

inline

Definition at line 54 of file Event.h.

Member Data Documentation

dimension

constexpr static auto gtsam::Event::dimension = 4

inlinestaticconstexpr

Definition at line 42 of file Event.h.

location_

Point3 gtsam::Event::location_

private

Location at time event was generated.

Definition at line 39 of file Event.h.

time_

double gtsam::Event::time_

private

Time event was generated.

Definition at line 38 of file Event.h.

---

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

• Event.h
• Event.cpp