#include <BearingRange.h>

Public Types
enum	{ dimB = traits<B>::dimension }

enum	{ dimR = traits<R>::dimension }

enum	{ dimension = dimB + dimR }

Public Member Functions
Standard Constructors
	BearingRange ()

	BearingRange (const B &b, const R &r)

Testable
void	print (const std::string &str="") const

bool	equals (const BearingRange< A1, A2 > &m2, double tol=1e-8) const

Private Types
enum	{ NeedsToAlign = (sizeof(B) % 16) == 0 \|\| (sizeof(R) % 16) == 0 }

Private Attributes
B	bearing_

R	range_

Standard Interface
const B &	bearing () const
	Return bearing measurement. More...

const R &	range () const
	Return range measurement. More...

static BearingRange	Measure (const A1 &a1, const A2 &a2, OptionalJacobian< dimension, traits< A1 >::dimension > H1={}, OptionalJacobian< dimension, traits< A2 >::dimension > H2={})
	Prediction function that stacks measurements. More...

static B	MeasureBearing (const A1 &a1, const A2 &a2)
	Predict bearing. More...

static R	MeasureRange (const A1 &a1, const A2 &a2)
	Predict range. More...

Manifold
typedef Eigen::Matrix< double, dimension, 1 >	TangentVector

typedef OptionalJacobian< dimension, dimension >	ChartJacobian

size_t	dim () const

BearingRange	retract (const TangentVector &xi) const
	Retract delta to manifold. More...

TangentVector	localCoordinates (const BearingRange &other) const
	Compute the coordinates in the tangent space. More...

static size_t	Dim ()

Detailed Description

template<typename A1, typename A2, typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>
struct gtsam::BearingRange< A1, A2, B, R >

Bearing-Range product for a particular A1,A2 combination will use the functors above to create a similar functor of type A1*A2 -> pair<Bearing::return_type,Range::return_type> For example BearingRange<Pose2,Point2>(pose,point) will return pair<Rot2,double> and BearingRange<Pose3,Point3>(pose,point) will return pair<Unit3,double>

Definition at line 52 of file BearingRange.h.

Member Typedef Documentation

◆ ChartJacobian

template<typename A1 , typename A2 , typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>

typedef OptionalJacobian<dimension, dimension> gtsam::BearingRange< A1, A2, B, R >::ChartJacobian

Definition at line 128 of file BearingRange.h.

◆ TangentVector

template<typename A1 , typename A2 , typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>

typedef Eigen::Matrix<double, dimension, 1> gtsam::BearingRange< A1, A2, B, R >::TangentVector

Definition at line 127 of file BearingRange.h.

Member Enumeration Documentation

◆ anonymous enum

template<typename A1 , typename A2 , typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>

anonymous enum

Enumerator
dimB

Definition at line 58 of file BearingRange.h.

◆ anonymous enum

template<typename A1 , typename A2 , typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>

anonymous enum

Enumerator
dimR

Definition at line 59 of file BearingRange.h.

◆ anonymous enum

template<typename A1 , typename A2 , typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>

anonymous enum

Enumerator
dimension

Definition at line 60 of file BearingRange.h.

◆ anonymous enum

template<typename A1 , typename A2 , typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>

anonymous enum

private

Enumerator
NeedsToAlign

Definition at line 165 of file BearingRange.h.

Constructor & Destructor Documentation

◆ BearingRange() [1/2]

template<typename A1 , typename A2 , typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>

gtsam::BearingRange< A1, A2, B, R >::BearingRange ( )

inline

Definition at line 65 of file BearingRange.h.

◆ BearingRange() [2/2]

template<typename A1 , typename A2 , typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>

gtsam::BearingRange< A1, A2, B, R >::BearingRange	(	const B &	b,
		const R &	r
	)

inline

Definition at line 66 of file BearingRange.h.

Member Function Documentation

◆ bearing()

template<typename A1 , typename A2 , typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>

const B& gtsam::BearingRange< A1, A2, B, R >::bearing ( ) const

inline

Return bearing measurement.

Definition at line 73 of file BearingRange.h.

◆ Dim()

template<typename A1 , typename A2 , typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>

static size_t gtsam::BearingRange< A1, A2, B, R >::Dim ( )

inlinestatic

Definition at line 124 of file BearingRange.h.

◆ dim()

template<typename A1 , typename A2 , typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>

size_t gtsam::BearingRange< A1, A2, B, R >::dim ( ) const

inline

Definition at line 125 of file BearingRange.h.

◆ equals()

template<typename A1 , typename A2 , typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>

bool gtsam::BearingRange< A1, A2, B, R >::equals	(	const BearingRange< A1, A2 > &	m2,
		double	tol = `1e-8`
	)		const

inline

Definition at line 115 of file BearingRange.h.

◆ localCoordinates()

template<typename A1 , typename A2 , typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>

TangentVector gtsam::BearingRange< A1, A2, B, R >::localCoordinates ( const BearingRange< A1, A2, B, R > & other ) const

inline

Compute the coordinates in the tangent space.

Definition at line 138 of file BearingRange.h.

◆ Measure()

template<typename A1 , typename A2 , typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>

static BearingRange gtsam::BearingRange< A1, A2, B, R >::Measure	(	const A1 &	a1,
		const A2 &	a2,
		OptionalJacobian< dimension, traits< A1 >::dimension >	H1 = `{}`,
		OptionalJacobian< dimension, traits< A2 >::dimension >	H2 = `{}`
	)

inlinestatic

Prediction function that stacks measurements.

Definition at line 79 of file BearingRange.h.

◆ MeasureBearing()

template<typename A1 , typename A2 , typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>

static B gtsam::BearingRange< A1, A2, B, R >::MeasureBearing	(	const A1 &	a1,
		const A2 &	a2
	)

inlinestatic

Predict bearing.

Definition at line 97 of file BearingRange.h.

◆ MeasureRange()

template<typename A1 , typename A2 , typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>

static R gtsam::BearingRange< A1, A2, B, R >::MeasureRange	(	const A1 &	a1,
		const A2 &	a2
	)

inlinestatic

Predict range.

Definition at line 102 of file BearingRange.h.

◆ print()

template<typename A1 , typename A2 , typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>

void gtsam::BearingRange< A1, A2, B, R >::print ( const std::string & str = "" ) const

inline

Definition at line 110 of file BearingRange.h.

◆ range()

template<typename A1 , typename A2 , typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>

const R& gtsam::BearingRange< A1, A2, B, R >::range ( ) const

inline

Return range measurement.

Definition at line 76 of file BearingRange.h.

◆ retract()

template<typename A1 , typename A2 , typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>

BearingRange gtsam::BearingRange< A1, A2, B, R >::retract ( const TangentVector & xi ) const

inline

Retract delta to manifold.

Definition at line 131 of file BearingRange.h.

Member Data Documentation

◆ bearing_

template<typename A1 , typename A2 , typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>

B gtsam::BearingRange< A1, A2, B, R >::bearing_

private

Definition at line 54 of file BearingRange.h.

◆ range_

template<typename A1 , typename A2 , typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>

R gtsam::BearingRange< A1, A2, B, R >::range_

private

Definition at line 55 of file BearingRange.h.

The documentation for this struct was generated from the following file:

BearingRange.h

Public Types

Public Member Functions

Private Types

Private Attributes

Standard Interface

Manifold

Detailed Description

template<typename A1, typename A2, typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type> struct gtsam::BearingRange< A1, A2, B, R >

Member Typedef Documentation

◆ ChartJacobian

◆ TangentVector

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

◆ anonymous enum

Constructor & Destructor Documentation

◆ BearingRange() [1/2]

◆ BearingRange() [2/2]

Member Function Documentation

◆ bearing()

◆ Dim()

◆ dim()

◆ equals()

◆ localCoordinates()

◆ Measure()

◆ MeasureBearing()

◆ MeasureRange()

◆ print()

◆ range()

◆ retract()

Member Data Documentation

◆ bearing_

◆ range_

template<typename A1, typename A2, typename B = typename Bearing<A1, A2>::result_type, typename R = typename Range<A1, A2>::result_type>
struct gtsam::BearingRange< A1, A2, B, R >