jafar::model3d::PlaneObserveModel Class Reference

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Detailed Description

Definition at line 13 of file planeObserveModel.hpp.

Inheritance diagram for jafar::model3d::PlaneObserveModel:

List of all members.

Public Member Functions
	PlaneObserveModel (std::size_t sizeObs_, std::size_t sizeState_)
virtual jblas::vec const &	computeInnovation (const jblas::vec &x_, const jblas::vec &z_)
virtual void	computeJacobian (const jblas::vec &x_, const jblas::vec &z_)
	call this method to compute the jacobian of the observation function with respect to X and Z
Public Attributes
jblas::vec	m_h
int	m_nPlaneType
	Equation du plan:

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Member Data Documentation

int jafar::model3d::PlaneObserveModel::m_nPlaneType

Equation du plan:

---------------- a x + b y + c z + d = 0 we suppose that one parameter is normalized (=1) :

type 0: x + abc[0]*y + abc[1]*z + abc[2] = 0 type 1: abc[0]*x + y + abc[1]*z + abc[2] = 0 type 2: abc[0]*x + abc[1]*y + z + abc[2] = 0

type 3: abc[0]*x + abc[1]*y + abc[2]*z + 1 = 0

type 4: Another form of plane equation : phi : angle with x-axis, 0 <= phi <= 360 deg theta : angle with z-axis, 0 <= theta <= 180 deg d0 : distance to the origine

cos(phi)sin(theta) x +sin(phi)sin(theta) y + cos(theta) z + d0 = 0

Definition at line 54 of file planeObserveModel.hpp.

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

• modules/model3d/include/model3d/planeObserveModel.hpp