ov_type::PoseJPL class

Derived Type class that implements a 6 d.o.f pose.

Reference

Internally we use a JPLQuat quaternion representation for the orientation and 3D Vec position. Please see JPLQuat for details on its update procedure and its left multiplicative error.

Base classes

class Type: Base class for estimated variables.

Public functions

void set_local_id(int new_id) override: Sets id used to track location of variable in the filter covariance.
void update(const Eigen::VectorXd& dx) override: Update q and p using a the JPLQuat update for orientation and vector update for position.
void set_value(const Eigen::MatrixXd& new_value) override: Sets the value of the estimate.
void set_fej(const Eigen::MatrixXd& new_value) override: Sets the value of the first estimate.
auto clone() -> std::shared_ptr<Type> override: Create a clone of this variable.
auto check_if_subvariable(const std::shared_ptr<Type> check) -> std::shared_ptr<Type> override: Determine if pass variable is a sub-variable.
auto Rot() const -> Eigen::Matrix<double, 3, 3>: Rotation access.
auto Rot_fej() const -> Eigen::Matrix<double, 3, 3>: FEJ Rotation access.
auto quat() const -> Eigen::Matrix<double, 4, 1>: Rotation access as quaternion.
auto quat_fej() const -> Eigen::Matrix<double, 4, 1>: FEJ Rotation access as quaternion.
auto pos() const -> Eigen::Matrix<double, 3, 1>: Position access.

Protected functions

void set_value_internal(const Eigen::MatrixXd& new_value): Sets the value of the estimate.
void set_fej_internal(const Eigen::MatrixXd& new_value): Sets the value of the first estimate.

Protected variables

std::shared_ptr<JPLQuat> _q: Subvariable containing orientation.
std::shared_ptr<Vec> _p: Subvariable containing position.

Function documentation

void ov_type::PoseJPL::set_local_id(int new_id) override

Sets id used to track location of variable in the filter covariance.

Parameters
new_id	entry in filter covariance corresponding to this variable

Note that we update the sub-variables also.

void ov_type::PoseJPL::update(const Eigen::VectorXd& dx) override

Update q and p using a the JPLQuat update for orientation and vector update for position.

Parameters
dx	Correction vector (orientation then position)

void ov_type::PoseJPL::set_value(const Eigen::MatrixXd& new_value) override

Sets the value of the estimate.

Parameters
new_value	New value we should set

void ov_type::PoseJPL::set_fej(const Eigen::MatrixXd& new_value) override

Sets the value of the first estimate.

Parameters
new_value	New value we should set

std::shared_ptr<Type> ov_type::PoseJPL::check_if_subvariable(const std::shared_ptr<Type> check) override

Determine if pass variable is a sub-variable.

Parameters
check	Type pointer to compare our subvariables to

If the passed variable is a sub-variable or the current variable this will return it. Otherwise it will return a nullptr, meaning that it was unable to be found.

void ov_type::PoseJPL::set_value_internal(const Eigen::MatrixXd& new_value) protected