#include <Pose.hpp>

Public Member Functions
	PoseUpdateThreshold ()

	PoseUpdateThreshold (double _distance, double _angle)

bool	test (double other_distance, double other_angle)

bool	test (const Eigen::Affine3d &pdelta)

bool	test (const Eigen::Affine3d &a2b, const Eigen::Affine3d &aprime2b)

Detailed Description

Represents a pose update threshold, with a number of test methods to see if the threshold was met.

Constructor & Destructor Documentation

base::PoseUpdateThreshold::PoseUpdateThreshold ( )

base::PoseUpdateThreshold::PoseUpdateThreshold	(	double	_distance,
		double	_angle
	)

Constructor with distance and angle thresholds

bool base::PoseUpdateThreshold::test	(	double	other_distance,
		double	other_angle
	)

Test if distance or angle is greater than the stored threshold.

bool base::PoseUpdateThreshold::test ( const Eigen::Affine3d & pdelta )

Test if the provided delta transformation is greater in either distance or angle than the threshold

bool base::PoseUpdateThreshold::test	(	const Eigen::Affine3d &	a2b,
		const Eigen::Affine3d &	aprime2b
	)

Test if the delta of the provided transformations is greater in either distance or angle than the threshold.

Parameters

a2b	the initial transformation from A to B
aprime2b	the next transformation from A' to B

Returns: true if the transformation A' to A is greater than the stored thresholds

double base::PoseUpdateThreshold::angle

double base::PoseUpdateThreshold::distance

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