base::TwistWithCovariance Struct Reference

#include <TwistWithCovariance.hpp>

Public Types
typedef base::Matrix6d	Covariance

Public Member Functions
	TwistWithCovariance (const base::Vector3d &vel=base::Vector3d::Zero(), const base::Vector3d &rot=base::Vector3d::Zero())
	TwistWithCovariance (const base::Vector3d &vel, const base::Vector3d &rot, const Covariance &cov)
	TwistWithCovariance (const base::Vector6d &velocity, const Covariance &cov)
const base::Vector3d &	getTranslation () const
void	setTranslation (const base::Vector3d &vel)
const base::Vector3d &	getRotation () const
void	setRotation (const base::Vector3d &rot)
const Covariance &	getCovariance () const
void	setCovariance (const Covariance &cov)
const base::Matrix3d	getLinearVelocityCov () const
void	setLinearVelocityCov (const base::Matrix3d &cov)
const base::Matrix3d	getAngularVelocityCov () const
void	setAngularVelocityCov (const base::Matrix3d &cov)
const base::Vector3d &	getLinearVelocity () const
void	setLinearVelocity (const base::Vector3d &vel)
const base::Vector3d &	getAngularVelocity () const
void	setAngularVelocity (const base::Vector3d &rot)
const base::Vector3d &	translation () const
const base::Vector3d &	rotation () const
const base::Vector6d	getVelocity () const
void	setVelocity (const base::Vector6d &velocity)
bool	hasValidVelocity () const
void	invalidateVelocity ()
bool	hasValidCovariance () const
void	invalidateCovariance ()
void	invalidate ()
double &	operator[] (int i)
double	operator[] (int i) const
TwistWithCovariance &	operator+= (const TwistWithCovariance &arg)
TwistWithCovariance &	operator-= (const TwistWithCovariance &arg)

Static Public Member Functions
static TwistWithCovariance	Zero ()
static Eigen::Matrix< double, 3, 6 >	crossJacobian (const base::Vector3d &u, const base::Vector3d &v)

Public Attributes
base::Vector3d	vel
base::Vector3d	rot
Covariance	cov

Friends
std::ostream &	operator<< (std::ostream &out, const base::Vector6d &vel)
TwistWithCovariance	operator+ (TwistWithCovariance lhs, const TwistWithCovariance &rhs)
TwistWithCovariance	operator- (TwistWithCovariance lhs, const TwistWithCovariance &rhs)
TwistWithCovariance	operator* (const TwistWithCovariance &lhs, double rhs)
TwistWithCovariance	operator* (double lhs, const TwistWithCovariance &rhs)
TwistWithCovariance	operator* (const TwistWithCovariance &lhs, const TwistWithCovariance &rhs)
TwistWithCovariance	operator/ (const TwistWithCovariance &lhs, double rhs)
TwistWithCovariance	operator- (const TwistWithCovariance &arg)

Member Typedef Documentation

Covariance

typedef base::Matrix6d base::TwistWithCovariance::Covariance

Constructor & Destructor Documentation

TwistWithCovariance() [1/3]

base::TwistWithCovariance::TwistWithCovariance ( const base::Vector3d &  vel = base::Vector3d::Zero(), const base::Vector3d &  rot = base::Vector3d::Zero()  )

explicit

TwistWithCovariance() [2/3]

base::TwistWithCovariance::TwistWithCovariance	(	const base::Vector3d &	vel,
		const base::Vector3d &	rot,
		const Covariance &	cov
	)

TwistWithCovariance() [3/3]

base::TwistWithCovariance::TwistWithCovariance	(	const base::Vector6d &	velocity,
		const Covariance &	cov
	)

Member Function Documentation

crossJacobian()

Eigen::Matrix< double, int(3), int(6) > base::TwistWithCovariance::crossJacobian ( const base::Vector3d &  u, const base::Vector3d &  v  )

static

getAngularVelocity()

const Vector3d & base::TwistWithCovariance::getAngularVelocity

(

)

const

getAngularVelocityCov()

const Matrix3d base::TwistWithCovariance::getAngularVelocityCov

(

)

const

getCovariance()

const TwistWithCovariance::Covariance & base::TwistWithCovariance::getCovariance

(

)

const

getLinearVelocity()

const Vector3d & base::TwistWithCovariance::getLinearVelocity

(

)

const

getLinearVelocityCov()

const Matrix3d base::TwistWithCovariance::getLinearVelocityCov

(

)

const

getRotation()

const Vector3d & base::TwistWithCovariance::getRotation

(

)

const

getTranslation()

const Vector3d & base::TwistWithCovariance::getTranslation

(

)

const

Get and Set Methods

getVelocity()

const Vector6d base::TwistWithCovariance::getVelocity

(

)

const

hasValidCovariance()

bool base::TwistWithCovariance::hasValidCovariance

(

)

const

hasValidVelocity()

bool base::TwistWithCovariance::hasValidVelocity

(

)

const

Check Methods

invalidate()

void base::TwistWithCovariance::invalidate

(

)

invalidateCovariance()

void base::TwistWithCovariance::invalidateCovariance

(

)

invalidateVelocity()

void base::TwistWithCovariance::invalidateVelocity

(

)

operator+=()

TwistWithCovariance & base::TwistWithCovariance::operator+=

(

const TwistWithCovariance &

arg

)

operator-=()

TwistWithCovariance & base::TwistWithCovariance::operator-=

(

const TwistWithCovariance &

arg

)

operator[]() [1/2]

double & base::TwistWithCovariance::operator[]

(

int

i

)

operator[]() [2/2]

double base::TwistWithCovariance::operator[]

(

int

i

)

const

rotation()

const Vector3d & base::TwistWithCovariance::rotation

(

)

const

setAngularVelocity()

void base::TwistWithCovariance::setAngularVelocity

(

const base::Vector3d &

rot

)

setAngularVelocityCov()

void base::TwistWithCovariance::setAngularVelocityCov

(

const base::Matrix3d &

cov

)

setCovariance()

void base::TwistWithCovariance::setCovariance

(

const Covariance &

cov

)

setLinearVelocity()

void base::TwistWithCovariance::setLinearVelocity

(

const base::Vector3d &

vel

)

setLinearVelocityCov()

void base::TwistWithCovariance::setLinearVelocityCov

(

const base::Matrix3d &

cov

)

setRotation()

void base::TwistWithCovariance::setRotation

(

const base::Vector3d &

rot

)

setTranslation()

void base::TwistWithCovariance::setTranslation

(

const base::Vector3d &

vel

)

setVelocity()

void base::TwistWithCovariance::setVelocity

(

const base::Vector6d &

velocity

)

Linear velocity at first place, Angular velocity at second place

translation()

const Vector3d & base::TwistWithCovariance::translation

(

)

const

Zero()

TwistWithCovariance base::TwistWithCovariance::Zero ( )

static

Friends And Related Function Documentation

operator* [1/3]

TwistWithCovariance operator* ( const TwistWithCovariance &  lhs, double  rhs  )

friend

operator* [2/3]

TwistWithCovariance operator* ( double  lhs, const TwistWithCovariance &  rhs  )

friend

operator* [3/3]

TwistWithCovariance operator* ( const TwistWithCovariance &  lhs, const TwistWithCovariance &  rhs  )

friend

In case the two twist have uncertainty

Initialize covariance

Linear velocity is at the first covariance block

Linear velocity is at the first covariance block

Angular velocity is at the first covariance block

operator+

TwistWithCovariance operator+ ( TwistWithCovariance  lhs, const TwistWithCovariance &  rhs  )

friend

operator- [1/2]

TwistWithCovariance operator- ( TwistWithCovariance  lhs, const TwistWithCovariance &  rhs  )

friend

operator- [2/2]

TwistWithCovariance operator- ( const TwistWithCovariance &  arg )

friend

unary -

operator/

TwistWithCovariance operator/ ( const TwistWithCovariance &  lhs, double  rhs  )

friend

operator<<

std::ostream& operator<< ( std::ostream &  out, const base::Vector6d &  vel  )

friend

Default std::cout function

Member Data Documentation

cov

Covariance base::TwistWithCovariance::cov

Uncertainty

rot

base::Vector3d base::TwistWithCovariance::rot

Rotation rate in rad/s

vel

base::Vector3d base::TwistWithCovariance::vel

Velocity in m/s

---

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

• /home/dfki.uni-bremen.de/roehr/workspace/2maz/dev/base/types/src/TwistWithCovariance.hpp
• /home/dfki.uni-bremen.de/roehr/workspace/2maz/dev/base/types/src/TwistWithCovariance.cpp