mrpt::srba::options::sensor_pose_on_robot_se3 Struct Reference

Detailed Description

Usage: A possible type for RBA_OPTIONS::sensor_pose_on_robot_t.

Meaning: The sensor is located at an arbitrary SE(3) pose wrt the robot reference frame.

Definition at line 92 of file srba_options_sensor_pose.h.

#include <mrpt/srba/srba_options_sensor_pose.h>

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

Static Public Member Functions
template<class KF_POSE >
static void	robot2sensor (const KF_POSE &robot, mrpt::poses::CPose3D &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, mrpt::poses::CPose3D &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_se3::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 126 of file srba_options_sensor_pose.h.

References mrpt::poses::CPose3D::getRotationMatrix(), and mrpt::srba::options::sensor_pose_on_robot_se3::parameters_t::relative_pose.

template<class LM_TYPE , class POINT >

static void mrpt::srba::options::sensor_pose_on_robot_se3::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 118 of file srba_options_sensor_pose.h.

References mrpt::srba::options::sensor_pose_on_robot_se3::parameters_t::relative_pose.

template<class KF_POSE >

static void mrpt::srba::options::sensor_pose_on_robot_se3::pose_robot2sensor ( const KF_POSE &  pose_wrt_robot, mrpt::poses::CPose3D &  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 110 of file srba_options_sensor_pose.h.

References mrpt::poses::CPose3D::inverseComposeFrom(), and mrpt::srba::options::sensor_pose_on_robot_se3::parameters_t::relative_pose.

template<class KF_POSE >

static void mrpt::srba::options::sensor_pose_on_robot_se3::robot2sensor ( const KF_POSE &  robot, mrpt::poses::CPose3D &  sensor, const parameters_t &  p  )

inlinestatic

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

Definition at line 102 of file srba_options_sensor_pose.h.

References mrpt::poses::CPose3D::composeFrom(), and mrpt::srba::options::sensor_pose_on_robot_se3::parameters_t::relative_pose.

template<class LANDMARK_T >

static void mrpt::srba::options::sensor_pose_on_robot_se3::sensor2robot_point ( typename landmark_traits< LANDMARK_T >::array_landmark_t &  pt, const parameters_t &  p  )

inlinestatic

Definition at line 132 of file srba_options_sensor_pose.h.

References mrpt::srba::options::sensor_pose_on_robot_se3::parameters_t::relative_pose.