For PS Move-like things, where there's a directly-computed absolute position that is not at the tracked body's origin. More...
#include <tracking/t_fusion.hpp>
Inheritance diagram for xrt_fusion::AbsolutePositionLeverArmMeasurement:
Collaboration diagram for xrt_fusion::AbsolutePositionLeverArmMeasurement:
Public Types | |
| using | State = flexkalman::pose_externalized_rotation::State |
| using | MeasurementVector = types::Vector< Dimension > |
| using | MeasurementSquareMatrix = types::SquareMatrix< Dimension > |
Public Member Functions | |
| AbsolutePositionLeverArmMeasurement (MeasurementVector const &measurement, MeasurementVector const &knownLocationInBodySpace, MeasurementVector const &variance) | |
| MeasurementSquareMatrix const & | getCovariance (State const &) |
| types::Vector< 3 > | predictMeasurement (State const &s) const |
| MeasurementVector | getResidual (MeasurementVector const &predictedMeasurement, State const &) const |
| MeasurementVector | getResidual (State const &s) const |
Static Public Attributes | |
| static constexpr size_t | Dimension = 3 |
Detailed Description
For PS Move-like things, where there's a directly-computed absolute position that is not at the tracked body's origin.
Constructor & Destructor Documentation
◆ AbsolutePositionLeverArmMeasurement()
|
inline |
- Todo:
- the point we get from the camera isn't the center of the ball, but the center of the visible surface of the ball - a closer approximation would be translation along the vector to the center of projection....
The documentation for this class was generated from the following file:
- auxiliary/tracking/t_fusion.hpp
