[−][src]Trait cv::Pose

pub trait Pose {
    type InputPoint;
    type OutputPoint;
    fn transform_jacobians(
        &self, 
        input: Self::InputPoint
    ) -> (Self::OutputPoint, Matrix<f64, U3, U3, <DefaultAllocator as Allocator<f64, U3, U3>>::Buffer>, Matrix<f64, U6, U3, <DefaultAllocator as Allocator<f64, U6, U3>>::Buffer>);

    fn update(
        &mut self, 
        delta: Matrix<f64, U6, U1, <DefaultAllocator as Allocator<f64, U6, U1>>::Buffer>
    );

    fn transform_jacobian_input(
        &self, 
        input: Self::InputPoint
    ) -> (Self::OutputPoint, Matrix<f64, U3, U3, <DefaultAllocator as Allocator<f64, U3, U3>>::Buffer>) { ... }

    fn transform_jacobian_pose(
        &self, 
        input: Self::InputPoint
    ) -> (Self::OutputPoint, Matrix<f64, U6, U3, <DefaultAllocator as Allocator<f64, U6, U3>>::Buffer>) { ... }

    fn transform(&self, input: Self::InputPoint) -> Self::OutputPoint { ... }
}

Associated Types

type InputPoint

type OutputPoint

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Required methods

fn transform_jacobians(
    &self,
    input: Self::InputPoint
) -> (Self::OutputPoint, Matrix<f64, U3, U3, <DefaultAllocator as Allocator<f64, U3, U3>>::Buffer>, Matrix<f64, U6, U3, <DefaultAllocator as Allocator<f64, U6, U3>>::Buffer>)

Transform the given point to an output point, while also retrieving both Jacobians.

The following things are returned in this order:

  • The output point of the transformation
  • The Jacobian of the output in respect to the input point
  • The Jacobian of the output in respect to the pose in se(3) (with translation components before so(3) components)

fn update(
    &mut self,
    delta: Matrix<f64, U6, U1, <DefaultAllocator as Allocator<f64, U6, U1>>::Buffer>
)

Updates the pose by applying a delta to its se(3) representation.

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Provided methods

fn transform_jacobian_input(
    &self,
    input: Self::InputPoint
) -> (Self::OutputPoint, Matrix<f64, U3, U3, <DefaultAllocator as Allocator<f64, U3, U3>>::Buffer>)

Transform the given point to an output point, while also retrieving the input Jacobian.

The following things are returned in this order:

  • The output point of the transformation
  • The Jacobian of the output in respect to the input point

fn transform_jacobian_pose(
    &self,
    input: Self::InputPoint
) -> (Self::OutputPoint, Matrix<f64, U6, U3, <DefaultAllocator as Allocator<f64, U6, U3>>::Buffer>)

Transform the given point to an output point, while also retrieving the transform Jacobian.

The following things are returned in this order:

  • The output point of the transformation
  • The Jacobian of the output in respect to the pose in se(3) (with translation components before so(3) components)

fn transform(&self, input: Self::InputPoint) -> Self::OutputPoint

Transform the given point to an output point, while also retrieving the transform Jacobian.

The following things are returned in this order:

  • The output point of the transformation
  • The Jacobian of the output in respect to the pose in se(3) (with translation components before so(3) components)
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Implementors

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