gtsam::Event Class Reference

Detailed Description

A space-time event models an event that happens at a certain 3D location, at a certain time.

One use for it is in sound-based or UWB-ranging tracking or SLAM, where we have "time of arrival" measurements at a set of sensors. The TOA functor below provides a measurement function for those applications.

Public Member Functions
	Event ()
	Default Constructor.
	Event (double t, const Point3 &p)
	Constructor from time and location.
	Event (double t, double x, double y, double z)
	Constructor with doubles.
double	time () const
Point3	location () const
double	height (OptionalJacobian< 1, 4 > H=boost::none) const
GTSAM_UNSTABLE_EXPORT void	print (const std::string &s="") const
	print with optional string
GTSAM_UNSTABLE_EXPORT bool	equals (const Event &other, double tol=1e-9) const
	equals with an tolerance
Event	retract (const Vector4 &v) const
	Updates a with tangent space delta.
Vector4	localCoordinates (const Event &q) const
	Returns inverse retraction.

Public Types
enum	{ dimension = 4 }

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

• /tmp/gtsam-4.2-docs.H5EUbA/src/gtsam_unstable/geometry/Event.h
• /tmp/gtsam-4.2-docs.H5EUbA/src/gtsam_unstable/geometry/Event.cpp