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Eigen::Matrix< double, 6, 1 > | err |
| error More...
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bool | isValid |
| valid or not (could be out of bounds) More...
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Eigen::Matrix< double, 6, 6 > | J0 |
| jacobian with respect to frames; uses dR'/dq from Node calculation More...
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Eigen::Matrix< double, 6, 6 > | J0t |
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Eigen::Matrix< double, 6, 6 > | J1 |
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Eigen::Matrix< double, 6, 6 > | J1t |
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int | nd1 |
| Node index for the second node. More...
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW int | ndr |
| Reference pose index. More...
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Eigen::Matrix< double, 6, 6 > | prec |
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Eigen::Quaternion< double > | qpmean |
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Eigen::Vector3d | tmean |
| Mean vector, quaternion (inverse) and precision matrix for this constraint. More...
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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.
void sba::ConP2::setJacobians |
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std::vector< Node, Eigen::aligned_allocator< Node > > & |
nodes | ) |
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dpc/dq = dR'/dq [pw-t], in homogeneous form, with q a quaternion param dpc/dx = -R' * [1 0 0]', in homogeneous form, with x a translation param d(px/pz)/du = [ pz dpx/du - px dpz/du ] / pz^2, works for all variables
Definition at line 221 of file spa.cpp.