odometry::Gaussian3D Class Reference

#include <Gaussian3D.hpp>

Inheritance diagram for odometry::Gaussian3D:

Public Member Functions
virtual	~Gaussian3D ()
virtual base::Pose	getPoseDelta ()=0
virtual Eigen::Matrix3d	getPositionError ()=0
virtual Eigen::Matrix3d	getOrientationError ()=0
base::Matrix6d	getPoseError ()

Detailed Description

base class of a 3d odometry model with a gaussian error model

Constructor & Destructor Documentation

~Gaussian3D()

virtual odometry::Gaussian3D::~Gaussian3D ( )

inlinevirtual

Member Function Documentation

getOrientationError()

virtual Eigen::Matrix3d odometry::Gaussian3D::getOrientationError ( )

pure virtual

returns the covariance matrix of the orientation error as an axis angle vector on a manifold.

Implemented in odometry::Skid4Odometry, odometry::SkidOdometry, and odometry::FootContact.

getPoseDelta()

virtual base::Pose odometry::Gaussian3D::getPoseDelta ( )

pure virtual

return the pose delta in the body fixed frame of the previous state.

Implemented in odometry::SkidOdometry, and odometry::FootContact.

getPoseError()

base::Matrix6d odometry::Gaussian3D::getPoseError ( )

inline

getPositionError()

virtual Eigen::Matrix3d odometry::Gaussian3D::getPositionError ( )

pure virtual

returns the covariance matrix of the linear velocity

Implemented in odometry::Skid4Odometry, odometry::SkidOdometry, and odometry::FootContact.

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

• /build/rock-master-18.09-slam-odometry-0.20170815/src/Gaussian3D.hpp