BIAS::RParametrization Class Reference

Slim class bundeling rotation matrix parametrization and associated covariance matrix. More...

#include <Base/Geometry/RParametrization.hh>

Collaboration diagram for BIAS::RParametrization:

Public Member Functions
const Matrix< Q_TYPE > &	GetCovarianceMatrix () const
	returns the covariance matrix associated with the EQ vector More...
Quaternion< Q_TYPE >	GetQ () const
	returns the quaternion More...
RMatrixBase	GetRotationMatrix () const
	returns the rotation matrix computed from parametrization More...
const Vector< Q_TYPE > &	GetVec () const
	returns a vector of dimension 6 where first 2 entries are the epipole and the last 4 entries are the quaternion orientation More...
bool	Load (const std::string &file)
	RParametrization ()
	RParametrization (const Vector< Q_TYPE > &Q, const Matrix< Q_TYPE > &covariance)
bool	Save (const std::string &file) const
void	Set (const Vector< Q_TYPE > &Qvec)
	Set this from R parametrization. More...
void	Set (const Vector< Q_TYPE > &Qvec, const Matrix< Q_TYPE > &Cov)
	Set this from orientation and covariance. More...
void	SetCovarianceMatrix (const Matrix< Q_TYPE > &Cov)
	Sets covariance matrix from Cov. More...

Protected Attributes
Matrix< Q_TYPE >	Cov_
Vector< Q_TYPE >	Q_

Detailed Description

Slim class bundeling rotation matrix parametrization and associated covariance matrix.

The rotation is parametrized as a quaternion

Author

woelk 11/2006

Definition at line 52 of file RParametrization.hh.

Constructor & Destructor Documentation

RParametrization::RParametrization

(

)

Definition at line 17 of file RParametrization.cpp.

References Q_.

RParametrization::RParametrization	(	const Vector< Q_TYPE > &	Q,
		const Matrix< Q_TYPE > &	covariance
	)

Definition at line 25 of file RParametrization.cpp.

References Set().

Member Function Documentation

const Matrix<Q_TYPE>& BIAS::RParametrization::GetCovarianceMatrix ( ) const

inline

returns the covariance matrix associated with the EQ vector

Definition at line 78 of file RParametrization.hh.

Referenced by BIAS::operator<<().

Quaternion< Q_TYPE > RParametrization::GetQ

(

)

const

returns the quaternion

Definition at line 55 of file RParametrization.cpp.

References GetVec().

Referenced by GetRotationMatrix().

RMatrixBase RParametrization::GetRotationMatrix

(

)

const

returns the rotation matrix computed from parametrization

Definition at line 64 of file RParametrization.cpp.

References GetQ(), and BIAS::RMatrixBase::SetFromQuaternion().

const Vector<Q_TYPE>& BIAS::RParametrization::GetVec ( ) const

inline

returns a vector of dimension 6 where first 2 entries are the epipole and the last 4 entries are the quaternion orientation

Definition at line 74 of file RParametrization.hh.

Referenced by GetQ(), and BIAS::operator<<().

bool RParametrization::Load

(

const std::string &

file

)

Definition at line 75 of file RParametrization.cpp.

bool RParametrization::Save

(

const std::string &

file

)

const

Definition at line 91 of file RParametrization.cpp.

void RParametrization::Set

(

const Vector< Q_TYPE > &

Qvec

)

Set this from R parametrization.

Zeros associated covarinace matrix

Definition at line 33 of file RParametrization.cpp.

References Cov_, Q_, BIAS::Matrix< T >::SetZero(), and TNT::Vector< T >::size().

Referenced by BIAS::operator>>(), and RParametrization().

void BIAS::RParametrization::Set ( const Vector< Q_TYPE > &  Qvec, const Matrix< Q_TYPE > &  Cov  )

inline

Set this from orientation and covariance.

Definition at line 65 of file RParametrization.hh.

void RParametrization::SetCovarianceMatrix

(

const Matrix< Q_TYPE > &

Cov

)

Sets covariance matrix from Cov.

Cov must be a 4x4 symmetric positiv definit matrix (i.e. a covariance matrix)

Definition at line 44 of file RParametrization.cpp.

References Cov_, TNT::Matrix< T >::num_cols(), and TNT::Matrix< T >::num_rows().

Member Data Documentation

Matrix<Q_TYPE> BIAS::RParametrization::Cov_

protected

Definition at line 93 of file RParametrization.hh.

Referenced by Set(), and SetCovarianceMatrix().

Vector<Q_TYPE> BIAS::RParametrization::Q_

protected

Definition at line 92 of file RParametrization.hh.

Referenced by RParametrization(), and Set().

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

• Base/Geometry/RParametrization.hh
• Base/Geometry/RParametrization.cpp