eulerTools.hpp File Reference

Toolbox for operations related to Euler angles in SLAM. More...

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Detailed Description

Toolbox for operations related to Euler angles in SLAM.

Definition in file eulerTools.hpp.

Go to the source code of this file.

Namespaces
namespace	jafar
	Transport info from GDAL Datasets to Bands' internal data.
namespace	jafar::slam::EulerTools
	Functions for operations related to Euler angles lines in SLAM.
Enumerations
enum	H { h_0, h_1 }
Functions
void	jafar::slam::EulerTools::details::toFrame (double x, double y, double z, double yaw, double pitch, double roll, double v_x, double v_y, double v_z, H h, double &vres_x, double &vres_y, double &vres_z)
template<class M_Jframe , class M_Jv >
void	jafar::slam::EulerTools::details::toFrameJac (double x, double y, double z, double yaw, double pitch, double roll, double v_x, double v_y, double v_z, H h, M_Jframe &Jframe, M_Jv &Jv)
void	jafar::slam::EulerTools::details::fromFrame (double x, double y, double z, double yaw, double pitch, double roll, double v_x, double v_y, double v_z, H h, double &vres_x, double &vres_y, double &vres_z)
template<class M_Jframe , class M_Jv >
void	jafar::slam::EulerTools::details::fromFrameJac (double x, double y, double z, double yaw, double pitch, double roll, double v_x, double v_y, double v_z, H h, M_Jframe &Jframe, M_Jv &Jv)
void	jafar::slam::EulerTools::details::composeFrame (double x2, double y2, double z2, double yaw2, double pitch2, double roll2, double x1, double y1, double z1, double yaw1, double pitch1, double roll1, double &x_res, double &y_res, double &z_res, double &yaw_res, double &pitch_res, double &roll_res)
void	jafar::slam::EulerTools::details::composeFrameJac (double x2, double y2, double z2, double yaw2, double pitch2, double roll2, double x1, double y1, double z1, double yaw1, double pitch1, double roll1, jblas::mat &Jframe1, jblas::mat &Jframe2)
void	jafar::slam::EulerTools::details::invFrame (double x, double y, double z, double yaw, double pitch, double roll, double &x_inv, double &y_inv, double &z_inv, double &yaw_inv, double &pitch_inv, double &roll_inv)
void	jafar::slam::EulerTools::details::lineToFrame (double x, double y, double z, double yaw, double pitch, double roll, double n1, double n2, double n3, double u1, double u2, double u3, double &n1Res, double &n2Res, double &n3Res, double &u1Res, double &u2Res, double &u3Res)
void	jafar::slam::EulerTools::details::lineToFrameJac (double x, double y, double z, double yaw, double pitch, double roll, double n1, double n2, double n3, double u1, double u2, double u3, jblas::mat &Jframe, jblas::mat &Jl)
void	jafar::slam::EulerTools::details::lineFromFrame (double x, double y, double z, double yaw, double pitch, double roll, double n1, double n2, double n3, double u1, double u2, double u3, double &n1Res, double &n2Res, double &n3Res, double &u1Res, double &u2Res, double &u3Res)
void	jafar::slam::EulerTools::details::lineFromFrameJac (double x, double y, double z, double yaw, double pitch, double roll, double n1, double n2, double n3, double u1, double u2, double u3, jblas::mat &Jframe, jblas::mat &Jl)
void	jafar::slam::EulerTools::details::planeToFrame (double x, double y, double z, double yaw, double pitch, double roll, double px, double py, double pz, double pw, double &px_res, double &py_res, double &pz_res, double &pw_res)
void	jafar::slam::EulerTools::details::planeToFrameJac (double x, double y, double z, double yaw, double pitch, double roll, double px, double py, double pz, double pw, jblas::mat &Jframe, jblas::mat &Jp)
void	jafar::slam::EulerTools::details::planeFromFrame (double x, double y, double z, double yaw, double pitch, double roll, double px, double py, double pz, double pw, double &px_res, double &py_res, double &pz_res, double &pw_res)
void	jafar::slam::EulerTools::details::planeFromFrameJac (double x, double y, double z, double yaw, double pitch, double roll, double px, double py, double pz, double pw, jblas::mat &Jframe, jblas::mat &Jp)
void	jafar::slam::EulerTools::details::odo3d (double x, double y, double z, double yaw, double pitch, double roll, double v, double w, double dt, double &x_res, double &y_res, double &z_res, double &yaw_res, double &pitch_res, double &roll_res)
void	jafar::slam::EulerTools::details::odo3dJac (double x, double y, double z, double yaw, double pitch, double roll, double v, double w, double dt, jblas::mat &Jx, jblas::mat &Jodo)
void	jafar::slam::EulerTools::details::odo3dInRefFrame (double yaw_robotToRef, double x, double y, double z, double yaw, double pitch, double roll, double v, double w, double dt, double &x_res, double &y_res, double &z_res, double &yaw_res, double &pitch_res, double &roll_res)
void	jafar::slam::EulerTools::details::odo3dInRefFrameJac (double yaw_robotToRef, double x, double y, double z, double yaw, double pitch, double roll, double v, double w, double dt, jblas::mat &Jx, jblas::mat &Jodo)
template<class VecBearings , class VecUnitVector >
void	jafar::slam::EulerTools::bearingsToUnitVector (VecBearings const &b, VecUnitVector &u)
template<class VecBearings >
void	jafar::slam::EulerTools::bearingsToUnitVectorJac (VecBearings const &b, jblas::mat &J)
template<class VecVector , class VecDirection >
void	jafar::slam::EulerTools::vectorToBearings (VecVector const &v, VecDirection &b)
template<class VecVector >
void	jafar::slam::EulerTools::vectorToBearingsJac (VecVector const &v, jblas::mat &J)
template<class VecFrame1 , class VecFrame2 , class VecFrameRes >
void	jafar::slam::EulerTools::composeFrame (const VecFrame1 &frame1_, const VecFrame2 &frame2_, VecFrameRes &frameRes)
	Euler frames composition.
template<class VecFrame1 , class VecFrame2 >
void	jafar::slam::EulerTools::composeFrameJac (const VecFrame1 &frame1_, const VecFrame2 &frame2_, jblas::mat &Jframe2, jblas::mat &Jframe1)
	Euler frames composition jacobian.
template<class VecFrame , class VecFrameInv >
void	jafar::slam::EulerTools::invFrame (VecFrame const &frame, VecFrameInv &frameInv)
	Euler frame inversion.
template<class VecFrame , class Vec , class VecRes >
void	jafar::slam::EulerTools::toFrame (const VecFrame &frame_, const Vec &v_, H h, VecRes &vRes)
	3D point to an other frame
template<class VecFrame , class Vec , class M_Jframe , class M_Jv >
void	jafar::slam::EulerTools::toFrameJac (const VecFrame &frame_, const Vec &v_, H h, M_Jframe &Jframe, M_Jv &Jv)
	3D point to an other frame jacobian
template<class VecFrame , class Vec , class VecRes >
void	jafar::slam::EulerTools::fromFrame (const VecFrame &frame_, const Vec &v_, H h, VecRes &vRes)
	3D point from an other frame
template<class VecFrame , class Vec , class M_Jframe , class M_Jv >
void	jafar::slam::EulerTools::fromFrameJac (const VecFrame &frame_, const Vec &v_, H h, M_Jframe &Jframe, M_Jv &Jv)
	3D point from an other frame jacobian
template<class VecFrame , class Vec , class VecRes >
void	jafar::slam::EulerTools::lineToFrame (const VecFrame &frame_, const Vec &l_, VecRes &lRes)
	3D line to an other frame
template<class VecFrame , class Vec >
void	jafar::slam::EulerTools::lineToFrameJac (const VecFrame &frame_, const Vec &l_, jblas::mat &Jframe, jblas::mat &Jl)
	3D line to an other frame jacobian
template<class VecFrame , class Vec , class VecRes >
void	jafar::slam::EulerTools::lineFromFrame (const VecFrame &frame_, const Vec &l_, VecRes &lRes)
	3D line from an other frame
template<class VecFrame , class Vec >
void	jafar::slam::EulerTools::lineFromFrameJac (const VecFrame &frame_, const Vec &l_, jblas::mat &Jframe, jblas::mat &Jl)
	3D line from an other frame jacobian
template<class VecFrame , class Vec , class VecRes >
void	jafar::slam::EulerTools::planeToFrame (const VecFrame &frame_, const Vec &p_, VecRes &pRes)
	Plane to an other frame.
template<class VecFrame , class Vec >
void	jafar::slam::EulerTools::planeToFrameJac (const VecFrame &frame_, const Vec &p_, jblas::mat &Jframe, jblas::mat &Jp)
	Plane to an other frame jacobian.
template<class VecFrame , class Vec , class VecRes >
void	jafar::slam::EulerTools::planeFromFrame (const VecFrame &frame_, const Vec &p_, VecRes &pRes)
	Plane from an other frame.
template<class VecFrame , class Vec >
void	jafar::slam::EulerTools::planeFromFrameJac (const VecFrame &frame_, const Vec &p_, jblas::mat &Jframe, jblas::mat &Jp)
	Plane from an other frame jacobian.
template<class VecOdo , class VecXRes >
void	jafar::slam::EulerTools::odo3d (VecOdo const &u, double dt, VecXRes &xRes)
template<class VecOdo >
void	jafar::slam::EulerTools::odo3dJac (VecOdo const &u, double dt, jblas::mat &Ju)
template<class VecX , class VecOdo , class VecXRes >
void	jafar::slam::EulerTools::odo3d (VecX const &x, VecOdo const &u, double dt, VecXRes &xRes)
template<class VecX , class VecOdo >
void	jafar::slam::EulerTools::odo3dJac (VecX const &x, VecOdo const &u, double dt, jblas::mat &Jx, jblas::mat &Ju)
template<class VecX , class VecOdo , class VecXRes >
void	jafar::slam::EulerTools::odo3dInRefFrame (double yaw_robotToRef, VecX const &x, VecOdo const &u, double dt, VecXRes &xRes)
template<class VecX , class VecOdo >
void	jafar::slam::EulerTools::odo3dInRefFrameJac (double yaw_robotToRef, VecX const &x, VecOdo const &u, double dt, jblas::mat &Jx, jblas::mat &Ju)