Drake
ArticulatedBodyInfluence Struct Reference

Description on how the optimization affects a body. More...

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

Collaboration diagram for ArticulatedBodyInfluence:
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Public Member Functions

bool is_influential () const
 Check if a correspondence with this body will influence the estimation. More...
 

Public Attributes

bool will_affect_camera {}
 Indicate that a correspondence with this body will influence the camera. More...
 
bool will_affect_model {}
 Indicate that a correspondence with this body will influence the model. More...
 

Detailed Description

Description on how the optimization affects a body.

Please see the documentation for each of the fields for how the influences are determined.

Member Function Documentation

bool is_influential ( ) const
inline

Check if a correspondence with this body will influence the estimation.

Member Data Documentation

bool will_affect_camera {}

Indicate that a correspondence with this body will influence the camera.

This is true if the camera frame is not fixed to the world frame, in which case the appropriate degrees of freedom will be influenced by the estimator.

bool will_affect_model {}

Indicate that a correspondence with this body will influence the model.

If the body is a fixed instance (either no modeled degrees of freedom between the world, or the object / the necessary degrees of freedom are excluded from the optimization), then the body itself will not be influenced by the estimator.


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