Detailed Description

Usage: A possible type for RBA_OPTIONS::sensor_pose_on_robot_t.

Meaning: The robot pose and the sensor pose coincide, i.e. the sensor pose on the robot is the identitity transformation.

Definition at line 32 of file srba_options_sensor_pose.h.

Classes
struct	parameters_t
	In this case there are no needed parameters. More...

Static Public Member Functions
template<class POSE >
static void	robot2sensor (const POSE &robot, POSE &sensor, const parameters_t &p)
	Gets the pose of the sensor given the robot pose (robot->sensor) More...

template<class KF_POSE >
static void	pose_robot2sensor (const KF_POSE &pose_wrt_robot, KF_POSE &pose_wrt_sensor, const parameters_t &p)
	Converts a pose relative to the robot coordinate frame (P) into a pose relative to the sensor (RES = P POSE_IN_ROBOT ) More...

template<class LM_TYPE , class POINT >
static void	point_robot2sensor (const POINT &pt_wrt_robot, POINT &pt_wrt_sensor, const parameters_t &p)
	Converts a point relative to the robot coordinate frame (P) into a point relative to the sensor (RES = P POSE_IN_ROBOT ) More...

template<class MATRIX >
static void	jacob_dh_dx_rotate (MATRIX &dh_dx, const parameters_t &p)
	Take into account the possible displacement of the sensor wrt the keyframe when evaluating the Jacobian dh_dx. More...

template<class LANDMARK_T >
static void	sensor2robot_point (typename landmark_traits< LANDMARK_T >::array_landmark_t &pt, const parameters_t &p)

Member Function Documentation

template<class MATRIX >

static void mrpt::srba::options::sensor_pose_on_robot_none::jacob_dh_dx_rotate	(	MATRIX &	dh_dx,
		const parameters_t &	p
	)

inlinestatic

Take into account the possible displacement of the sensor wrt the keyframe when evaluating the Jacobian dh_dx.

Definition at line 67 of file srba_options_sensor_pose.h.

template<class LM_TYPE , class POINT >

static void mrpt::srba::options::sensor_pose_on_robot_none::point_robot2sensor	(	const POINT &	pt_wrt_robot,
		POINT &	pt_wrt_sensor,
		const parameters_t &	p
	)

inlinestatic

Converts a point relative to the robot coordinate frame (P) into a point relative to the sensor (RES = P POSE_IN_ROBOT )

Definition at line 58 of file srba_options_sensor_pose.h.

template<class KF_POSE >

static void mrpt::srba::options::sensor_pose_on_robot_none::pose_robot2sensor	(	const KF_POSE &	pose_wrt_robot,
		KF_POSE &	pose_wrt_sensor,
		const parameters_t &	p
	)

inlinestatic

Converts a pose relative to the robot coordinate frame (P) into a pose relative to the sensor (RES = P POSE_IN_ROBOT )

Definition at line 49 of file srba_options_sensor_pose.h.

template<class POSE >

static void mrpt::srba::options::sensor_pose_on_robot_none::robot2sensor	(	const POSE &	robot,
		POSE &	sensor,
		const parameters_t &	p
	)

inlinestatic

Gets the pose of the sensor given the robot pose (robot->sensor)

Definition at line 41 of file srba_options_sensor_pose.h.

template<class LANDMARK_T >

static void mrpt::srba::options::sensor_pose_on_robot_none::sensor2robot_point	(	typename landmark_traits< LANDMARK_T >::array_landmark_t &	pt,
		const parameters_t &	p
	)

inlinestatic

Definition at line 73 of file srba_options_sensor_pose.h.