Detailed Description

Usage: A possible type for RBA_OPTIONS::sensor_pose_on_robot_t. Meaning: The sensor is located at an arbitrary SE(3) pose wrt the robot reference frame.

Definition at line 92 of file srba_options_sensor_pose.h.

#include <srba_options_sensor_pose.h>

List of all members.

Classes
struct	parameters_t
Static Public Member Functions
template<class KF_POSE >
static void	robot2sensor (const KF_POSE &robot, mrpt::poses::CPose3D &sensor, const parameters_t &p)
template<class KF_POSE >
static void	pose_robot2sensor (const KF_POSE &pose_wrt_robot, mrpt::poses::CPose3D &pose_wrt_sensor, const parameters_t &p)
template<class landmark_t , class POINT >
static void	point_robot2sensor (const POINT &pt_wrt_robot, POINT &pt_wrt_sensor, const parameters_t &p)
template<class MATRIX >
static void	jacob_dh_dx_rotate (MATRIX &dh_dx, const parameters_t &p)
template<class LANDMARK_T >
static void	sensor2robot_point (typename landmark_traits< LANDMARK_T >::array_landmark_t &pt, const parameters_t &p)

Member Function Documentation

template<class MATRIX >

static void srba::options::sensor_pose_on_robot_se3::jacob_dh_dx_rotate	(	MATRIX &	dh_dx,
		const parameters_t &	p
	)		`[inline, static]`

Take into account the possible displacement of the sensor wrt the keyframe when evaluating the Jacobian dh_dx

Definition at line 126 of file srba_options_sensor_pose.h.

template<class landmark_t , class POINT >

static void srba::options::sensor_pose_on_robot_se3::point_robot2sensor	(	const POINT &	pt_wrt_robot,
		POINT &	pt_wrt_sensor,
		const parameters_t &	p
	)		`[inline, static]`

Converts a point relative to the robot coordinate frame (P) into a point relative to the sensor (RES = P POSE_IN_ROBOT )

Definition at line 118 of file srba_options_sensor_pose.h.

template<class KF_POSE >

static void srba::options::sensor_pose_on_robot_se3::pose_robot2sensor	(	const KF_POSE &	pose_wrt_robot,
		mrpt::poses::CPose3D &	pose_wrt_sensor,
		const parameters_t &	p
	)		`[inline, static]`

Converts a pose relative to the robot coordinate frame (P) into a pose relative to the sensor (RES = P POSE_IN_ROBOT )

Definition at line 110 of file srba_options_sensor_pose.h.

template<class KF_POSE >

static void srba::options::sensor_pose_on_robot_se3::robot2sensor	(	const KF_POSE &	robot,
		mrpt::poses::CPose3D &	sensor,
		const parameters_t &	p
	)		`[inline, static]`

Gets the pose of the sensor given the robot pose (robot->sensor)

Definition at line 102 of file srba_options_sensor_pose.h.

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

srba/srba_options_sensor_pose.h

Detailed Description

Classes

Static Public Member Functions

Member Function Documentation