gtsam::BearingS2 Class Reference

Collaboration diagram for gtsam::BearingS2:

Public Member Functions
Constructors
	BearingS2 ()
	BearingS2 (double azimuth, double elevation)
	BearingS2 (const Rot2 &azimuth, const Rot2 &elevation)
const Rot2 &	azimuth () const
const Rot2 &	elevation () const
Testable
void	print (const std::string &s="") const
bool	equals (const BearingS2 &x, double tol=1e-9) const

Static Public Member Functions
Measurements
template<class POSE , class TARGET >
static BearingS2	fromDownwardsObservation (const POSE &A, const TARGET &B)
static BearingS2	fromDownwardsObservation (const Pose3 &A, const Point3 &B)
static BearingS2	fromForwardObservation (const Pose3 &A, const Point3 &B)

Static Public Attributes
static const size_t	dimension = 2

Protected Attributes
Rot2	azimuth_
Rot2	elevation_

Manifold
size_t	dim () const
	Dimensionality of tangent space = 2 DOF.
BearingS2	retract (const Vector &v) const
Vector	localCoordinates (const BearingS2 &p2) const
	Local coordinates of BearingS2 manifold neighborhood around current pose.
static size_t	Dim ()
	Dimensionality of tangent space = 2 DOF - used to autodetect sizes.

Constructor & Destructor Documentation

BearingS2() [1/2]

gtsam::BearingS2::BearingS2 ( )

inline

Default constructor - straight ahead

BearingS2() [2/2]

gtsam::BearingS2::BearingS2 ( double  azimuth, double  elevation  )

inline

Build from components

Member Function Documentation

equals()

bool gtsam::BearingS2::equals	(	const BearingS2 &	x,
		double	tol = 1e-9
	)		const

assert equality up to a tolerance

fromDownwardsObservation()

template<class POSE , class TARGET >

static BearingS2 gtsam::BearingS2::fromDownwardsObservation ( const POSE &  A, const TARGET &  B  )

inlinestatic

Observation function for downwards-facing camera

fromForwardObservation()

static BearingS2 gtsam::BearingS2::fromForwardObservation ( const Pose3 &  A, const Point3 &  B  )

static

Observation function with standard, forwards-facing camera

print()

void gtsam::BearingS2::print

(

const std::string &

s = ""

)

const

print with optional string

retract()

BearingS2 gtsam::BearingS2::retract

(

const Vector &

v

)

const

Retraction from R^2 to BearingS2 manifold neighborhood around current pose Tangent space parameterization is [azimuth elevation]

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

• /home/docs/checkouts/readthedocs.org/user_builds/gtsam-jlblanco-docs/checkouts/latest/gtsam_unstable/geometry/BearingS2.h