mrob::SE3Cov Class Reference

Inheritance diagram for mrob::SE3Cov:

Collaboration diagram for mrob::SE3Cov:

Public Member Functions
	SE3Cov (void)
	Default construct a new SE3Cov object. More...
	SE3Cov (const SE3 &pose, const Mat6 &cov)
	Construtor of SE3Cov object. More...
	SE3Cov (const SE3Cov &pose)
	Copy constructor of SE3Cov object. More...
Mat6	cov () const
	cov() returns current covariance matrix state More...
SE3Cov	compound_2nd_order (const SE3Cov &pose) const
	SE3 pose uncertainty compounding of the second order. More...
SE3Cov	compound_2nd_order (const SE3 &pose, const Mat6 &cov) const
	SE3 pose uncertainty compounding of the second order. More...
SE3Cov	compound_4th_order (const SE3Cov &pose) const
	SE3pose uncertainy compounding of the fourth order. More...
SE3Cov	compound_4th_order (const SE3 &pose, const Mat6 &cov) const
	SE3pose uncertainy compounding of the fourth order. More...
void	print ()
	Prints current state of pose and covariance. More...
SE3Cov	mul (const SE3Cov &rhs) const
	Multiplication method mul as an interface for compounding. More...
SE3Cov	operator* (const SE3Cov &rhs) const
	Multiplication operator. Does pose covariance compounding. More...
std::string	toString () const
	Generates string representation of the SE3cov object. More...
Public Member Functions inherited from mrob::SE3
	SE3 (const Mat4 &T=Mat4::Identity())
	SE3 (const Mat61 &xi)
	SE3 (const SE3 &T)
	SE3 (const SO3 &R, const Mat31 &t)
	SE3 (const Mat3 &R, const Mat31 &t)
template<typename OtherDerived >
	SE3 (const Eigen::MatrixBase< OtherDerived > &rhs)
SE3 &	operator= (const SE3 &rhs)
SE3	operator* (const SE3 &rhs) const
SE3	mul (const SE3 &rhs) const
void	update_lhs (const Mat61 &dxi)
void	update_rhs (const Mat61 &dxi)
void	exp (const Mat4 &xi_hat)
Mat4	ln (void) const
Mat61	ln_vee () const
Mat31	transform (const Mat31 &p) const
MatX	transform_array (const MatX &P) const
SE3	inv (void) const
Mat6	adj () const
const Eigen::Ref< const Mat4 >	T () const
Mat4 &	ref2T ()
Mat3	R () const
Mat31	t () const
double	distance (const SE3 &rhs=SE3()) const
double	distance_rotation (const SE3 &rhs=SE3()) const
double	distance_trans (const SE3 &rhs=SE3()) const
void	regenerate ()
Mat41	transform_plane (const Mat41 &pi)
void	print (void) const
void	print_lie (void) const
std::string	toString () const
	Generates string representation of the object. More...

Protected Attributes
Mat6	covariance_
	This is the 6x6 covariance matrix of the current pose. Convention is \(\xi = (\theta, \rho)\), where \(\theta\) are the orientation angles, and \(\rho\) is the position vector. More...
Protected Attributes inherited from mrob::SE3
Mat4	T_

Constructor & Destructor Documentation

SE3Cov() [1/3]

SE3Cov::SE3Cov

(

void

)

Default construct a new SE3Cov object.

Returns

SE3Cov object.

SE3Cov() [2/3]

SE3Cov::SE3Cov	(	const SE3 &	pose,
		const Mat6 &	cov
	)

Construtor of SE3Cov object.

Parameters

[in]	pose	- SE3 oject - pose;
[in]	cov	- covariance matrix of the pose uncertainty;

Returns

SE3Cov object.

SE3Cov() [3/3]

SE3Cov::SE3Cov

(

const SE3Cov &

pose

)

Copy constructor of SE3Cov object.

Parameters

[in]

pose

- SE3 oject - pose

Member Function Documentation

compound_2nd_order() [1/2]

SE3Cov SE3Cov::compound_2nd_order

(

const SE3Cov &

pose

)

const

SE3 pose uncertainty compounding of the second order.

Parameters

[in]

pose

- SE3Cov object: incremental pose + increment uncertainty

Returns

void

compound_2nd_order() [2/2]

SE3Cov SE3Cov::compound_2nd_order	(	const SE3 &	pose,
		const Mat6 &	cov
	)		const

SE3 pose uncertainty compounding of the second order.

Parameters

[in]	pose	- pose increment;
[in]	cov	- increment uncertainty.

Returns

SE3Cov object with updated uncertainty and pose.

compound_4th_order() [1/2]

SE3Cov SE3Cov::compound_4th_order

(

const SE3Cov &

pose

)

const

SE3pose uncertainy compounding of the fourth order.

Parameters

[in]

pose

- SE3Cov object with incremental pose and increment uncertainty.

Returns

SE3Cov object with updated uncertainty and pose.

compound_4th_order() [2/2]

SE3Cov SE3Cov::compound_4th_order	(	const SE3 &	pose,
		const Mat6 &	cov
	)		const

SE3pose uncertainy compounding of the fourth order.

Parameters

[in]	pose	- pose increment;
[in]	cov	- increment uncertainty.

Returns

SE3Cov object with updated uncertainty and pose.

cov()

Mat6 SE3Cov::cov

(

void

)

const

cov() returns current covariance matrix state

Returns

Mat6 - uncertainty covariance matrix

mul()

SE3Cov SE3Cov::mul

(

const SE3Cov &

rhs

)

const

Multiplication method mul as an interface for compounding.

Parameters

[in]

rhs

- SE3Cov object that corresponds to increment.

Returns

SE3Cov - new updated uncertainty SE3Cov object.

operator*()

SE3Cov SE3Cov::operator*

(

const SE3Cov &

rhs

)

const

Multiplication operator. Does pose covariance compounding.

Parameters

[in]

rhs

- SE3Cov object, which corresponds to increment uncertainty.

Returns

SE3Cov - new updated uncertainty SE3Cov object.

print()

void SE3Cov::print

(

void

)

Prints current state of pose and covariance.

Returns

SE3Cov object with updated uncertainty and pose.

toString()

std::string mrob::SE3Cov::toString

(

)

const

Generates string representation of the SE3cov object.

Returns

std::string object to print

Member Data Documentation

covariance_

Mat6 mrob::SE3Cov::covariance_

protected

This is the 6x6 covariance matrix of the current pose. Convention is \(\xi = (\theta, \rho)\), where \(\theta\) are the orientation angles, and \(\rho\) is the position vector.

\[ \Sigma = E[\xi\cdot\xi^T] = \left[\begin{array}{cc} \Sigma_{\theta \theta} & \Sigma_{\theta \rho} \\ \Sigma_{\rho \theta} & \Sigma_{\rho \rho}\\ \end{array} \right] \]

matrix of pose uncertainty

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

• src/geometry/mrob/SE3cov.hpp
• src/geometry/SE3cov.cpp