xrt::tracking::constellation::optimizer::PoseWithVelocity< T > Struct Template Reference

Pose with 9 degrees of freedom, translation, rotation, and linear velocity. More...

#include </builds/monado/monado/src/xrt/tracking/constellation/optimizer/internal_math.hpp>

Inheritance diagram for xrt::tracking::constellation::optimizer::PoseWithVelocity< T >:

Collaboration diagram for xrt::tracking::constellation::optimizer::PoseWithVelocity< T >:

Public Member Functions
	PoseWithVelocity (xrt_pose p)
template<typename Derived >
	PoseWithVelocity (xrt_pose p, const Vector3< Derived > &velocity)
	PoseWithVelocity (Eigen::Ref< const Vector< T, kNumParameters > > parameters)
void	pack (Eigen::Ref< Vector< T, kNumParameters > > parameters) const
Public Member Functions inherited from xrt::tracking::constellation::optimizer::Pose< T >
	Pose (Quaternion< T > quat)
	Pose (xrt_pose pose)
	Pose (Eigen::Ref< const Vector< T, kNumParameters > > parameters)
template<typename TransformType >
	Pose (const Eigen::Transform< TransformType, 3, Eigen::Isometry > &transform)
void	pack (Eigen::Ref< Vector< T, kNumParameters > > parameters) const
Eigen::Transform< T, 3, Eigen::Isometry >	toTransform () const
void	getQuaternion (Quaternion< T > &q) const
xrt_pose	toXrtPose () const

Data Fields
Vector3< T >	velocity
Data Fields inherited from xrt::tracking::constellation::optimizer::Pose< T >
Vector3< T >	translation
Quaternion< T >	rotation

Static Public Attributes
static constexpr int	kNumParameters = Pose<T>::kNumParameters + 3
static constexpr int	kNumTangentParameters = Pose<T>::kNumTangentParameters + 3
Static Public Attributes inherited from xrt::tracking::constellation::optimizer::Pose< T >
static constexpr int	kNumParameters = 7
	Size of the parameter block handed to Ceres: (tX, tY, tZ), (qX, qY, qZ, qW).
static constexpr int	kNumTangentParameters = 6
	Degrees of freedom the manifold exposes to the solver.
static constexpr int	kNumResiduals = 6

Detailed Description

template<typename T>
struct xrt::tracking::constellation::optimizer::PoseWithVelocity< T >

Pose with 9 degrees of freedom, translation, rotation, and linear velocity.

Stored as a Pose with an extra 3-parameter vector for the velocity.

See PoseWithVelocityManifold for the correct way to optimize on this, which takes tangent space from 10 -> 9 parameters (quat exponential map).

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The documentation for this struct was generated from the following file:

• tracking/constellation/optimizer/internal_math.hpp