Drake
ArticulatedIcpBodyPoints Class Reference

Contains a group of points to be rendered in a linearized ICP cost. More...

#include <perception/estimators/dev/articulated_icp.h>

Public Member Functions

 ArticulatedIcpBodyPoints (FrameIndex frame_Bi, int num_max)
 
void Add (const Eigen::Vector3d &meas_W, const Eigen::Vector3d &body_W)
 Add a given measured and body point, both in the world frame. More...
 
void Finalize ()
 Call once all points are added. More...
 
void ComputeError (const SceneState &scene_state, ArticulatedIcpErrorSet *es) const
 Add this sets of points to a given articulated error set. More...
 
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
 ArticulatedIcpBodyPoints (const ArticulatedIcpBodyPoints &)=default
 
ArticulatedIcpBodyPointsoperator= (const ArticulatedIcpBodyPoints &)=default
 
 ArticulatedIcpBodyPoints (ArticulatedIcpBodyPoints &&)=default
 
ArticulatedIcpBodyPointsoperator= (ArticulatedIcpBodyPoints &&)=default
 

Detailed Description

Contains a group of points to be rendered in a linearized ICP cost.

Constructor & Destructor Documentation

ArticulatedIcpBodyPoints ( FrameIndex  frame_Bi,
int  num_max 
)
inline
Parameters
frame_BiBody's frame index.
num_maxMaximum number of points to be stored.

Member Function Documentation

void Add ( const Eigen::Vector3d &  meas_W,
const Eigen::Vector3d &  body_W 
)

Add a given measured and body point, both in the world frame.

Parameters
meas_WMeasured point, fixed in camera frame, expressed in world frame.
body_WBody point, expressed in world frame.

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void ComputeError ( const SceneState scene_state,
ArticulatedIcpErrorSet es 
) const

Add this sets of points to a given articulated error set.

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void Finalize ( )

Call once all points are added.

ArticulatedIcpBodyPoints& operator= ( const ArticulatedIcpBodyPoints )
default

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