Advanced Interface
class	boost::serialization::access

Manifold
size_t	dim () const
	Dimensionality of tangent space = 2 DOF.
BearingS2	retract (const Vector &v) const
	Retraction from R^2 to BearingS2 manifold neighborhood around current pose Tangent space parameterization is [azimuth elevation].
Vector	localCoordinates (const BearingS2 &p2) const
	Local coordinates of BearingS2 manifold neighborhood around current pose.
static size_t	Dim ()
	Dimensionality of tangent space = 2 DOF - used to autodetect sizes.

Public Member Functions
Constructors
	BearingS2 ()
	Default constructor - straight ahead.
	BearingS2 (double azimuth, double elevation)
	Build from components.
	BearingS2 (const Rot2 &azimuth, const Rot2 &elevation)
const Rot2 &	azimuth () const
const Rot2 &	elevation () const
Testable
void	print (const std::string &s="") const
	print with optional string
bool	equals (const BearingS2 &x, double tol=1e-9) const
	assert equality up to a tolerance

Static Public Member Functions
Measurements
template<class POSE, class TARGET>
static BearingS2	fromDownwardsObservation (const POSE &A, const TARGET &B)
	Observation function for downwards-facing camera.
static BearingS2	fromDownwardsObservation (const Pose3 &A, const Point3 &B)
static BearingS2	fromForwardObservation (const Pose3 &A, const Point3 &B)
	Observation function with standard, forwards-facing camera.

Static Public Attributes
static const size_t	dimension = 2

The documentation for this class was generated from the following files:

Advanced Interface

Manifold