helper class that represents a pose (position and orientation) and associated gaussian uncertainty, which can also produce samples More...

#include <Gaussian.hpp>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	GaussianSamplingPose3D (const Configuration &config)

void	update (const Vector6d &mean, const Matrix6d &llt)
	set mean and upper triangular matrix of covariance More...

Vector6d	sample ()
	get a pose sample based on mean and covariance provided by update More...

Public Attributes
Matrix6d	poseCov

Matrix6d	poseLT

Vector6d	poseMean

Protected Attributes
Configuration	config

boost::variate_generator< boost::minstd_rand, boost::normal_distribution<> >	rand_norm

Detailed Description

helper class that represents a pose (position and orientation) and associated gaussian uncertainty, which can also produce samples

Constructor & Destructor Documentation

◆ GaussianSamplingPose3D()

GaussianSamplingPose3D::GaussianSamplingPose3D ( const Configuration & config )

Parameters

odometry configuration struct

Todo:: not actually used at this point

Member Function Documentation

◆ sample()

base::Vector6d GaussianSamplingPose3D::sample ( )

get a pose sample based on mean and covariance provided by update

◆ update()

void GaussianSamplingPose3D::update	(	const Vector6d &	mean,
		const Matrix6d &	llt
	)

set mean and upper triangular matrix of covariance

The pose is encoded as a 6 vector, where the first three elements are the axis/angle notation of rotation, and the last 3 elements are translation

Parameters

mean	mean of pose change
llt	upper triangular matrix of covariance (through e.g. cholesky from cov)

Member Data Documentation

◆ config

Configuration odometry::GaussianSamplingPose3D::config

protected

◆ poseCov

Matrix6d odometry::GaussianSamplingPose3D::poseCov

◆ poseLT

Matrix6d odometry::GaussianSamplingPose3D::poseLT

◆ poseMean

Vector6d odometry::GaussianSamplingPose3D::poseMean

◆ rand_norm

boost::variate_generator<boost::minstd_rand, boost::normal_distribution<> > odometry::GaussianSamplingPose3D::rand_norm