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DWARF::StaticAutoCalibrationService Class Reference
[Ubitrack Static Autocalibration Service]

The class handling the setup of needs & abilities. More...

Inheritance diagram for DWARF::StaticAutoCalibrationService:

[legend]Collaboration diagram for DWARF::StaticAutoCalibrationService:

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Public Member Functions
void	onEvent (const PoseData &p)
Protected Member Functions
void	run ()
	The main execution loop.
Private Member Functions
TNT::Array2D< double >	GetV ()
TNT::Array2D< double >	Pose2State (const PoseData &p)
void	State2Pose (const TNT::Array2D< double > &v, PoseData &p)
TNT::Array2D< double >	Pose2StateErr (const PoseData &p)
void	State2PoseErr (const TNT::Array2D< double > &c, PoseData &p)

Detailed Description

The class handling the setup of needs & abilities.

This class is derived from the DWARF C++ Template service.

TNT::Array2D< double > StaticAutoCalibrationService::GetV ( ) [private]

returns matrix V of the extended kalman filter

void StaticAutoCalibrationService::onEvent

(

const PoseData &

)

Handles incoming PoseData

Reimplemented from DWARF::PoseService.

TNT::Array2D< double > StaticAutoCalibrationService::Pose2State ( const PoseData & p ) [private]

converts a PoseData to the state-(column-)vector representation

TNT::Array2D< double > StaticAutoCalibrationService::Pose2StateErr ( const PoseData & p ) [private]

converts pose covariance to additive state-error

void StaticAutoCalibrationService::State2Pose	(	const TNT::Array2D< double > &	v,
		PoseData &	p
	)	`[private]`

copies a state-(column-)vector to the pos and ori fields of a PoseData

void StaticAutoCalibrationService::State2PoseErr	(	const TNT::Array2D< double > &	c,
		PoseData &	p
	)	`[private]`

converts additive state-error to pose covariance

DWARF::StaticAutoCalibrationService Class Reference | generated on Sun Apr 29 02:02:04 2007 by Doxygen 1.4.1 for DWARF