vicon::ViconUncertainty< _EigenMatrixType > Class Template Reference

#include <ViconUncertainty.hpp>

Public Member Functions
	ViconUncertainty (size_t dimension=0)
void	push (const _EigenMatrixType &value)
_EigenMatrixType	getMean ()
_EigenMatrixType	getVariance ()
_EigenMatrixType	getStdDev ()
size_t	size ()
size_t	capacity ()

Protected Attributes
size_t	dimension
boost::circular_buffer< _EigenMatrixType >	data

Detailed Description

template<typename _EigenMatrixType>
class vicon::ViconUncertainty< _EigenMatrixType >

Definition at line 12 of file ViconUncertainty.hpp.

Constructor & Destructor Documentation

template<typename _EigenMatrixType >

vicon::ViconUncertainty< _EigenMatrixType >::ViconUncertainty ( size_t  dimension = 0 )

inline

Definition at line 20 of file ViconUncertainty.hpp.

            {
                this->dimension = dimension;
                data = boost::circular_buffer< _EigenMatrixType >(this->dimension);
            }

Member Function Documentation

template<typename _EigenMatrixType >

size_t vicon::ViconUncertainty< _EigenMatrixType >::capacity ( )

inline

Definition at line 81 of file ViconUncertainty.hpp.

            {
                return data.capacity();
            }

template<typename _EigenMatrixType >

_EigenMatrixType vicon::ViconUncertainty< _EigenMatrixType >::getMean ( )

inline

Definition at line 36 of file ViconUncertainty.hpp.

            {
                _EigenMatrixType sum;
                sum.setZero();

                if (this->dimension > 0)
                {
                    for(register unsigned int i=0; i<data.size(); ++i)
                    {
                        sum += data[i];
                    }
                }
                return sum/data.size();
            }

template<typename _EigenMatrixType >

_EigenMatrixType vicon::ViconUncertainty< _EigenMatrixType >::getStdDev ( )

inline

Definition at line 68 of file ViconUncertainty.hpp.

            {
                _EigenMatrixType variance = getVariance();
                Eigen::LLT< _EigenMatrixType > lltOfVar (variance);

                return variance.matrixL();
            }

template<typename _EigenMatrixType >

_EigenMatrixType vicon::ViconUncertainty< _EigenMatrixType >::getVariance ( )

inline

Definition at line 51 of file ViconUncertainty.hpp.

            {
                _EigenMatrixType mean = getMean();
                _EigenMatrixType temp;
                temp.setZero();

                if (this->dimension > 0)
                {
                    for(register unsigned int i=0; i<data.size(); ++i)
                    {
                        temp += (mean - data[i]) * (mean - data[i]);
                    }

                }
                return temp/data.size();
            }

template<typename _EigenMatrixType >

void vicon::ViconUncertainty< _EigenMatrixType >::push ( const _EigenMatrixType &  value )

inline

Definition at line 27 of file ViconUncertainty.hpp.

            {
                if (this->dimension > 0)
                {
                    data.push_front(value);
                }
            }

template<typename _EigenMatrixType >

size_t vicon::ViconUncertainty< _EigenMatrixType >::size ( )

inline

Definition at line 76 of file ViconUncertainty.hpp.

            {
                return data.size();
            }

Member Data Documentation

template<typename _EigenMatrixType >

boost::circular_buffer< _EigenMatrixType > vicon::ViconUncertainty< _EigenMatrixType >::data

protected

Definition at line 16 of file ViconUncertainty.hpp.

template<typename _EigenMatrixType >

size_t vicon::ViconUncertainty< _EigenMatrixType >::dimension

protected

Definition at line 15 of file ViconUncertainty.hpp.

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

• /build/rock-master-18.09-drivers-vicon-0.20160818/ViconUncertainty.hpp