xv::PoseF Struct Reference

Class representing a 6dof pose at a timestamp with a linear model for prediction. More...

#include <xv-types.h>

Public Member Functions
	PoseF (Vector3f const &translation, Matrix3f const &rotation, double hostTimestamp=std::numeric_limits< double >::infinity(), std::int64_t edgeTimestamp=(std::numeric_limits< std::int64_t >::min)(), double c=0.)
	Construct a pose with a translation, rotation, timestamps and confidence.
PoseF	prediction (double dt) const
	Prediction of the pose based on angular and linear velocity and acceleration. More...
Transform_< float > const &	transform () const
Vector3< float > const &	linearVelocity () const
	Get the linear velocity (in m/s) of the pose.
Vector3< float > const &	angularVelocity () const
	Get the angular velocity (x,y,z) in rad/s.
void	setLinearVelocity (Vector3< float > const &v)
	Set the linear velocity (in m/s)
void	setLinearVelocity (floatconst *v)
	Set the angular velocity (x,y,z) in rad/s.
void	setAngularVelocity (Vector3< float > const &v)
	Set an estimation of instantaneous angular velocity of the pose. More...
void	setAngularVelocity (floatconst *v)
	Set an estimation of instantaneous angular velocity of the pose. More...
Vector3< float > const &	linearAcceleration () const
	Get the linear acceleration (in m/s/s) of the pose.
Vector3< float > const &	angularAcceleration () const
	Get the angular acceleration (x,y,z) in rad/s/s.
void	setLinearAcceleration (Vector3< float > const &v)
	Set the linear acceleration (in m/s)
void	setLinearAcceleration (floatconst *v)
	Set the angular acceleration (x,y,z) in rad/s/s.
void	setAngularAcceleration (Vector3< float > const &v)
	Set an estimation of instantaneous angular acceleration of the pose. More...
void	setAngularAcceleration (floatconst *v)
	Set an estimation of instantaneous angular acceleration of the pose. More...
double	confidence () const
	Get the confidence of the pose. Value in [0,1], 0 means lost.
void	setConfidence (double c)
	Set the confidence of the pose. Value in [0,1], 0 means lost.
Vector4< float > const &	quaternion () const
	Get the quaternion of the rotation.
void	setQuaternion (Vector4< float > const &v)
	Set the quaternion of the rotation.
void	setQuaternion (floatconst *v)
	Set the quaternion of the rotation using pointer of 4D array.
void	setRotation (Matrix3< float > const &v)
void	setRotation (floatconst *v)
	Set the quaternion of the rotation using pointer of 4D array.
std::int64_t	edgeTimestampUs () const
	Get the edge timestamp of the pose (in microseconds).
void	setEdgeTimestampUs (std::int64_t t)
	Set the edge timestamp of the pose (in microseconds).
double	hostTimestamp () const
	Get the host timestamp of the pose (in s).
void	setHostTimestamp (double t)
	Set the host timestamp of the pose (in s).
Transform_ &	operator*= (Transform_ const &q)
	Composition operator for transformations.
Vector3< float > const &	translation () const
	Get the translation part of the transformation. More...
void	setTranslation (Vector3< float > const &v)
	Set the translation part of the transformation.
void	setTranslation (floatconst *v)
	Set the translation part of the transformation using pointer to 3D array.
Matrix3< float > const &	rotation () const
	Get the rotation matrix part of the transformation. More...
float	x () const
	X coordinate of the translation.
float	y () const
	Y coordinate of the translation.
float	z () const
	Z coordinate of the translation.
Transform_< float >	inverse () const
	Compute the inverse transformation. More...

Static Public Member Functions
static Pose	Identity ()

Protected Attributes
Vector3< float >	m_linearVelocity
Vector3< float >	m_angularVelocity
Vector3< float >	m_linearAcceleration
Vector3< float >	m_angularAcceleration
Vector3< float >	m_translation
Matrix3< float >	m_rotation

Detailed Description

Class representing a 6dof pose at a timestamp with a linear model for prediction.

This class has both quaternion and rotation matrix to represent the 3D rotation.

Member Function Documentation

Transform_<float > xv::details::Transform_< float >::inverse ( ) const

inherited

Compute the inverse transformation.

Returns

Return the inverse transformation

PoseF xv::PoseF::prediction

(

double

dt

)

const

Prediction of the pose based on angular and linear velocity and acceleration.

Parameters

dt	amount of prediction (in s)

Returns

The predicted (2nd order extrapolation) of the orientation.

Matrix3<float > const& xv::details::Transform_< float >::rotation ( ) const

inlineinherited

Get the rotation matrix part of the transformation.

Returns

row major 3x3 matrix

void xv::details::PosePred_< float >::setAngularAcceleration ( Vector3< float > const &  v )

inlineinherited

Set an estimation of instantaneous angular acceleration of the pose.

Parameters

v	[ax,ay,az] angular acceleration

void xv::details::PosePred_< float >::setAngularAcceleration ( float const *  v )

inlineinherited

Set an estimation of instantaneous angular acceleration of the pose.

Parameters

v	[ax,ay,az] angular acceleration

void xv::details::PosePred_< float >::setAngularVelocity ( Vector3< float > const &  v )

inlineinherited

Set an estimation of instantaneous angular velocity of the pose.

Parameters

v	[wx,wy,wz] angular velocity

void xv::details::PosePred_< float >::setAngularVelocity ( float const *  v )

inlineinherited

Set an estimation of instantaneous angular velocity of the pose.

Parameters

v	[wx,wy,wz] angular velocity

Vector3<float > const& xv::details::Transform_< float >::translation ( ) const

inlineinherited

Get the translation part of the transformation.

Returns

[x,y,z] vector

---

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

• E:/build/xvsdk/include/xv-types.h