math.hpp File Reference

Generic math helpers for constellation optimizer code. More...

#include "math/m_eigen_interop.hpp"
#include "math/m_quatexpmap.hpp"
#include "math/m_quatexpmap_bigceres.hpp"
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <ceres/jet.h>
#include <ceres/product_manifold.h>
#include <ceres/autodiff_manifold.h>
#include "pose_optimize.hpp"

Include dependency graph for math.hpp:

Go to the source code of this file.

Data Structures
struct	xrt::tracking::constellation::optimizer::QuaternionManifoldFunctor
	Right-multiplying quaternion manifold, matches our local convention. More...

Typedefs
typedef Eigen::Matrix< double, kPoseCovarianceSize, kPoseCovarianceSize >	xrt::tracking::constellation::optimizer::PoseStateCovarianceMatrix
typedef ceres::ProductManifold< ceres::EuclideanManifold< 3 >, ceres::AutoDiffManifold< QuaternionManifoldFunctor, 4, 3 > >	xrt::tracking::constellation::optimizer::PoseManifold
typedef ceres::ProductManifold< ceres::EuclideanManifold< 3 >, ceres::AutoDiffManifold< QuaternionManifoldFunctor, 4, 3 >, ceres::EuclideanManifold< 3 > >	xrt::tracking::constellation::optimizer::PoseWithVelocityManifold

Functions
Eigen::Isometry3f	xrt::tracking::constellation::optimizer::isometryFromPose (const xrt_pose &p)
	Returns an Isometry3f from an xrt_pose.

Detailed Description

Generic math helpers for constellation optimizer code.

Author

Beyley Cardellio ep1cm.nosp@m.1n10.nosp@m.n123@.nosp@m.gmai.nosp@m.l.com

Function Documentation

isometryFromPose()

Eigen::Isometry3f xrt::tracking::constellation::optimizer::isometryFromPose ( const xrt_pose &  p )

inline

Returns an Isometry3f from an xrt_pose.

References xrt::tracking::constellation::optimizer::isometryFromPose(), xrt::auxiliary::math::map_quat(), and xrt::auxiliary::math::map_vec3().

Referenced by xrt::tracking::constellation::optimizer::isometryFromPose().