jafar::slam::EulerTools Namespace Reference

Functions for operations related to Euler angles lines in SLAM. More...

---

Detailed Description

Functions for operations related to Euler angles lines in SLAM.

Enumerations
enum	H { h_0, h_1 }
Functions
template<class VecBearings , class VecUnitVector >
void	bearingsToUnitVector (VecBearings const &b, VecUnitVector &u)
template<class VecBearings >
void	bearingsToUnitVectorJac (VecBearings const &b, jblas::mat &J)
template<class VecVector , class VecDirection >
void	vectorToBearings (VecVector const &v, VecDirection &b)
template<class VecVector >
void	vectorToBearingsJac (VecVector const &v, jblas::mat &J)
template<class VecFrame1 , class VecFrame2 , class VecFrameRes >
void	composeFrame (const VecFrame1 &frame1_, const VecFrame2 &frame2_, VecFrameRes &frameRes)
	Euler frames composition.
template<class VecFrame1 , class VecFrame2 >
void	composeFrameJac (const VecFrame1 &frame1_, const VecFrame2 &frame2_, jblas::mat &Jframe2, jblas::mat &Jframe1)
	Euler frames composition jacobian.
template<class VecFrame , class VecFrameInv >
void	invFrame (VecFrame const &frame, VecFrameInv &frameInv)
	Euler frame inversion.
template<class VecFrame , class Vec , class VecRes >
void	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	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	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	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	lineToFrame (const VecFrame &frame_, const Vec &l_, VecRes &lRes)
	3D line to an other frame
template<class VecFrame , class Vec >
void	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	lineFromFrame (const VecFrame &frame_, const Vec &l_, VecRes &lRes)
	3D line from an other frame
template<class VecFrame , class Vec >
void	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	planeToFrame (const VecFrame &frame_, const Vec &p_, VecRes &pRes)
	Plane to an other frame.
template<class VecFrame , class Vec >
void	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	planeFromFrame (const VecFrame &frame_, const Vec &p_, VecRes &pRes)
	Plane from an other frame.
template<class VecFrame , class Vec >
void	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	odo3d (VecOdo const &u, double dt, VecXRes &xRes)
template<class VecOdo >
void	odo3dJac (VecOdo const &u, double dt, jblas::mat &Ju)
template<class VecX , class VecOdo , class VecXRes >
void	odo3d (VecX const &x, VecOdo const &u, double dt, VecXRes &xRes)
template<class VecX , class VecOdo >
void	odo3dJac (VecX const &x, VecOdo const &u, double dt, jblas::mat &Jx, jblas::mat &Ju)
template<class VecX , class VecOdo , class VecXRes >
void	odo3dInRefFrame (double yaw_robotToRef, VecX const &x, VecOdo const &u, double dt, VecXRes &xRes)
template<class VecX , class VecOdo >
void	odo3dInRefFrameJac (double yaw_robotToRef, VecX const &x, VecOdo const &u, double dt, jblas::mat &Jx, jblas::mat &Ju)