class to store the projected residuals and the corresponding jacobian as well as the covariance matrix in the system of residuals More...

#include <Projection.h>

Public Member Functions
	Projection (int dimP, int dimC)
	constructor

virtual	~Projection ()
	destructor

Eigen::Matrix< double, -1, -1, 0, 7, MAX_MATRIX_SIZE > &	getH ()
	get projection matrix

const Eigen::Matrix< double, -1, -1, 0, 7, MAX_MATRIX_SIZE >	getH () const
	get projection matrix

Eigen::Matrix< double, -1, 1, 0, 7, 1 > &	getResiduals ()
	get residuals

const Eigen::Matrix< double, -1, 1, 0, 7, 1 >	getResiduals () const
	get residuals

double	getElementInResiduals (int row)
	ge element in residuals

Eigen::Matrix< double, -1, -1, 0, 7, 7 > &	getV ()
	get residuals cov matrix

const Eigen::Matrix< double, -1, -1, 0, 7, 7 > &	getV () const
	get residuals cov matrix

void	resetProjection ()
	reset projection

unsigned int	getOffset () const
	get offset (for mergedcosntraints)

void	incrementOffset (unsigned int i)
	increment offset

unsigned int	offset () const
	get offset

int	getDim () const
	get size

int	getDimCov () const
	get size

Private Attributes
Eigen::Matrix< double, -1, -1, 0, 7, MAX_MATRIX_SIZE >	m_H
	jacobian of the constraint, converts x,p,E<->system of residuals

Eigen::Matrix< double, -1, -1, 0, 7, 7 >	m_V
	covariance matrix of this constraint (r')

Eigen::Matrix< double, -1, 1, 0, 7, 1 >	m_residual
	residuals of constraint

int	m_dimCov
	dimension of the covariance

int	m_dimProj
	dimension of H

unsigned int	m_offset
	offset for constraint index. More...

Detailed Description

class to store the projected residuals and the corresponding jacobian as well as the covariance matrix in the system of residuals

Definition at line 18 of file Projection.h.

Member Data Documentation

unsigned int m_offset

private

offset for constraint index.

used when there's more then one constraint projected

Definition at line 84 of file Projection.h.

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