gtsam::abc::State< N > Struct Template Reference

Detailed Description

template<size_t N>
struct gtsam::abc::State< N >

Minimal state manifold for the biased attitude system: ξ = (R, b, S).

Template parameter N is the number of calibrated sensors.

Public Member Functions
	State (const Rot3 &R=Rot3(), const Vector3 &b=Z_3x1, const Calibrations< N > &S=Calibrations< N >())
	Constructor.
TangentVector	localCoordinates (const State< N > &other) const
	Compute Local coordinates in the state relative to another state.
State	retract (const TangentVector &v) const
	Retract from tangent space back to the manifold.
void	print (const std::string &s="") const
bool	equals (const State< N > &other, double tol=1e-9) const

Static Public Member Functions
static State	identity ()
	Identity function.

Public Attributes
Rot3	R
Vector3	b
Calibrations< N >	S

Static Public Attributes
static constexpr int	dimension = 6 + 3 * static_cast<int>(N)

Public Types
using	TangentVector = Eigen::Matrix<double, dimension, 1>

Member Function Documentation

localCoordinates()

template<size_t N>

TangentVector gtsam::abc::State< N >::localCoordinates ( const State< N > & other ) const

inline

Compute Local coordinates in the state relative to another state.

Parameters

other

The other state

Returns

Local coordinates in the tangent space

retract()

template<size_t N>

State gtsam::abc::State< N >::retract ( const TangentVector & v ) const

inline

Retract from tangent space back to the manifold.

Parameters

v	Vector in the tangent space

Returns

New state

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

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