#include <mrpt/math/CQuaternion.h>
#include <mrpt/math/utils.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPose3DPDFGaussian.h>
#include <mrpt/poses/CPosePDFGaussian.h>
Go to the source code of this file.
Namespaces | |
namespace | mrpt |
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries. | |
namespace | mrpt::math |
This base provides a set of functions for maths stuff. | |
namespace | mrpt::math::jacobians |
A collection of functions to compute jacobians of diverse transformations, etc (some functions are redirections to existing methods elsewhere, so this namespace is actually used with grouping purposes). | |
Functions | |
void | mrpt::math::jacobians::jacob_quat_from_yawpitchroll (CMatrixFixedNumeric< double, 4, 3 > &out_dq_dr, const double yaw, const double pitch, const double roll) |
Computes the 4x3 Jacobian of the transformation from a 3D pose angles (yaw pitch roll) into a Quaternion, that is, the Jacobian of:
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void | mrpt::math::jacobians::jacob_quat_from_yawpitchroll (CMatrixFixedNumeric< double, 4, 3 > &out_dq_dr, const CPose3D &in_pose) |
Computes the 4x3 Jacobian of the transformation from a 3D pose angles (yaw pitch roll) into a Quaternion, that is, the Jacobian of:
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void | mrpt::math::jacobians::jacob_yawpitchroll_from_quat (CMatrixFixedNumeric< double, 3, 4 > &out_dr_dq) |
Computes the 3x4 Jacobian of the transformation from a quaternion (qr qx qy qz) to 3D pose angles (yaw pitch roll). | |
template<class QUATERNION , class MATRIXLIKE > | |
void | mrpt::math::jacobians::jacob_quat_rotation (const QUATERNION &quaternion, MATRIXLIKE &out_mat4x4) |
Compute the Jacobian of the rotation composition operation ![]() ![]() | |
void | mrpt::math::jacobians::jacobs_6D_pose_comp (const CPose3D &x, const CPose3D &u, CMatrixDouble66 &out_df_dx, CMatrixDouble66 &out_df_du) |
Given the 3D(6D) pose composition ![]() ![]() ![]() | |
void | mrpt::math::jacobians::jacobs_2D_pose_comp (const CPosePDFGaussian &x, const CPosePDFGaussian &u, CMatrixDouble33 &out_df_dx, CMatrixDouble33 &out_df_du) |
Given the 2D pose composition ![]() ![]() ![]() | |
template<class VECTORLIKE , class VECTORLIKE2 , class VECTORLIKE3 , class MATRIXLIKE , class USERPARAM > | |
void | mrpt::math::jacobians::jacob_numeric_estimate (const VECTORLIKE &x, void(*functor)(const VECTORLIKE &x, const USERPARAM &y, VECTORLIKE3 &out), const VECTORLIKE2 &increments, const USERPARAM &userParam, MATRIXLIKE &out_Jacobian) |
Numerical estimation of the Jacobian of a user-supplied function - this template redirects to mrpt::math::estimateJacobian, see that function for documentation. |
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