Detailed Description

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

Functor encoding the right action ρ_y(X) on direction measurements y, parameterized by the sensor index.

Use index = -1 for an uncalibrated sensor measured directly in the body frame.

Inheritance diagram for gtsam::abc::OutputAction< N >:

Public Member Functions
	OutputAction (int index=-1)
Vector3	operator() (const Vector3 &y, const G &X, OptionalJacobian< 3, 3 > H_y={}, OptionalJacobian< 3, G::dimension > H_X={}) const
Public Member Functions inherited from gtsam::GroupAction< OutputAction< N >, Group< N >, Vector3 >
const OutputAction< N > &	derived () const
	Access derived class.

Public Attributes
int	index_

Static Public Attributes
static constexpr ActionType	type = ActionType::Right
Static Public Attributes inherited from gtsam::GroupAction< OutputAction< N >, Group< N >, Vector3 >
static constexpr int	DimG
static constexpr int	DimM

Public Types
using	G = Group<N>
Public Types inherited from gtsam::GroupAction< OutputAction< N >, Group< N >, Vector3 >
using	Group
using	Manifold
using	Orbit
using	Diffeomorphism

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

Public Member Functions