gtsam::BearingRange< A1, A2, B, R > Struct Template Reference

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>.

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.
TangentVector	localCoordinates (const BearingRange &other) const
	Compute the coordinates in the tangent space.
static size_t	Dim ()

Standard Interface
const B &	bearing () const
	Return bearing measurement.
const R &	range () const
	Return range measurement.
static BearingRange	Measure (const A1 &a1, const A2 &a2, OptionalJacobian1 H1={}, OptionalJacobian2 H2={})
	Prediction function that stacks measurements.
static B	MeasureBearing (const A1 &a1, const A2 &a2)
	Predict bearing.
static R	MeasureRange (const A1 &a1, const A2 &a2)
	Predict range.

Public Member Functions
Standard Constructors
	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

Static Public Attributes
static constexpr const size_t	dimB = traits<B>::dimension
static constexpr const size_t	dimR = traits<R>::dimension
static constexpr const size_t	dimension = dimB + dimR

Public Types
using	OptionalJacobian1
using	OptionalJacobian2

Member Typedef Documentation

OptionalJacobian1

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

using gtsam::BearingRange< A1, A2, B, R >::OptionalJacobian1

Initial value:

 
OptionalJacobian<dimension, traits<A1>::dimension>

OptionalJacobian2

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

using gtsam::BearingRange< A1, A2, B, R >::OptionalJacobian2

Initial value:

 
OptionalJacobian<dimension, traits<A2>::dimension>

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

• /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam/geometry/BearingRange.h