mrob::NodePose3d Class Reference

Inheritance diagram for mrob::NodePose3d:

Collaboration diagram for mrob::NodePose3d:

Public Member Functions
	NodePose3d (const Mat4 &initial_x, Node::nodeMode mode=STANDARD)
	NodePose3d (const SE3 &initial_x, Node::nodeMode mode=STANDARD)
virtual void	update (VectRefConst &dx)
virtual void	update_from_auxiliary (VectRefConst &dx)
virtual void	set_state (MatRefConst &x)
virtual void	set_auxiliary_state (MatRefConst &x)
virtual MatRefConst	get_state () const
virtual MatRefConst	get_auxiliary_state () const
void	print () const
Public Member Functions inherited from mrob::Node
	Node (uint_t dim, nodeMode mode=STANDARD)
factor_id_t	get_id () const
void	set_id (factor_id_t id)
factor_id_t	get_dim (void) const
bool	is_connected_to_EF () const
void	set_connected_to_EF (bool state=true)
void	set_node_mode (nodeMode mode)
nodeMode	get_node_mode ()

Protected Attributes
SE3	state_
SE3	auxiliaryState_
Protected Attributes inherited from mrob::Node
factor_id_t	id_
uint_t	dim_
nodeMode	node_mode_
bool	isConnected2EF_

Additional Inherited Members
Public Types inherited from mrob::Node
enum	nodeMode { STANDARD = 0, ANCHOR, SCHUR_MARGI }

Constructor & Destructor Documentation

NodePose3d() [1/2]

NodePose3d::NodePose3d	(	const Mat4 &	initial_x,
		Node::nodeMode	mode = STANDARD
	)

For initialization, requires an initial estimation of the state. For 3D poses we use a transformation matrix 4x4

Note that the dimensionality of this node is 6, that is the DOF

NodePose3d() [2/2]

NodePose3d::NodePose3d	(	const SE3 &	initial_x,
		Node::nodeMode	mode = STANDARD
	)

Initialization directly on SE3 a matrix

Member Function Documentation

get_auxiliary_state()

virtual MatRefConst mrob::NodePose3d::get_auxiliary_state ( ) const

inlinevirtual

Returns a matrix to the last auxiliary state. This data structure is for the incre- metal implementation, or for error evaluation

Implements mrob::Node.

get_state()

virtual MatRefConst mrob::NodePose3d::get_state ( ) const

inlinevirtual

Declared as a dynamic matrix reference to allow any size to be returned. At run time returns a Reference to a fixed size matrix and provide it as an argument for the getState function, no need to be dynamic, as long as the dimension is correctly set

Implements mrob::Node.

set_auxiliary_state()

void NodePose3d::set_auxiliary_state ( MatRefConst &  x )

virtual

New auxiliary state set

Implements mrob::Node.

set_state()

void NodePose3d::set_state ( MatRefConst &  x )

virtual

At run time sets the new value of the estate and auxiliary to be x

Implements mrob::Node.

update()

void NodePose3d::update ( VectRefConst &  dx )

virtual

Left update operation corresponds to T'=exp(dxi^)*T x'=vee(ln(T'))

Implements mrob::Node.

update_from_auxiliary()

void NodePose3d::update_from_auxiliary ( VectRefConst &  dx )

virtual

Updates FROM the auxiliary state the principal state.

Implements mrob::Node.

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

• src/FGraph/mrob/factors/nodePose3d.hpp
• src/FGraph/factors/nodePose3d.cpp