gtsam  4.1.0
gtsam
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>

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, OptionalJacobian< dimension, traits< A1 >::dimension > H1=boost::none, OptionalJacobian< dimension, traits< A2 >::dimension > H2=boost::none)
 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.
 

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 ()
 

Advanced Interface

class boost::serialization::access
 

Public Member Functions

Standard Constructors
 BearingRange ()
 
 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
 

Public Types

enum  { dimB = traits<B>::dimension }
 
enum  { dimR = traits<R>::dimension }
 
enum  { dimension = dimB + dimR }
 

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