PoseManifoldGaussian Struct Reference

A "gaussian" distribution in pose space (i.e. More...

#include <RobotAPI/libraries/ArmarXObjects/PoseManifoldGaussian.h>

Classes
struct	Ellipsoid

Public Member Functions
Ellipsoid	getPositionEllipsoid () const
	Get the parameters of a 3D ellipsoid illustrating this gaussian.
Eigen::AngleAxisf	getScaledRotationAxis (int index, bool global=false) const
	Get a column of the pure orientational covariance matrix as axis-angle rotation.
PoseManifoldGaussian	getTransformed (const Eigen::Matrix4f &fromFrame, const Eigen::Matrix4f &toFrame) const
	Transform this gaussian from one base coordinate system to another one.
PoseManifoldGaussian	getTransformed (const Eigen::Matrix4f &transform) const
	Transform this gaussian by the given transform (e.g.
Eigen::Block< Eigen::Matrix< float, 6, 6 >, 3, 3 >	orientationCovariance ()
	Get the pure orientational part of the covariance matrix.
Eigen::Block< const Eigen::Matrix< float, 6, 6 >, 3, 3 >	orientationCovariance () const
Eigen::Block< Eigen::Matrix< float, 6, 6 >, 3, 3 >	positionCovariance ()
	Get the pure positional part of the covariance matrix.
Eigen::Block< const Eigen::Matrix< float, 6, 6 >, 3, 3 >	positionCovariance () const

Public Attributes
Eigen::Matrix< float, 6, 6 >	covariance = Eigen::Matrix<float, 6, 6>::Identity()
	The covariance matrix.
Eigen::Matrix4f	mean = Eigen::Matrix4f::Identity()
	The mean (i.e. a pose).

Detailed Description

A "gaussian" distribution in pose space (i.e.

pose manifold).

The mean is a specific pose, represented as 4x4 homogeneous matrix.

The covariance is a 6 x 6 covariance matrix. The first 3 dimensions represent the position (translation) part, the second 3 dimensions represent the orientation (rotation) part. A column of the pure orientational part (lower right 3 x 3 matrix) is a scaled rotation axis, i.e. rotation axis whose norm is the rotation angle (in this case the "angle variance").

Note that the lower left and upper right 3x3 parts of the covariance matrix can be non-zero.

Member Function Documentation

getPositionEllipsoid()

PoseManifoldGaussian::Ellipsoid getPositionEllipsoid

(

)

const

Get the parameters of a 3D ellipsoid illustrating this gaussian.

getScaledRotationAxis()

Eigen::AngleAxisf getScaledRotationAxis	(	int	index,
		bool	global = false ) const

Get a column of the pure orientational covariance matrix as axis-angle rotation.

Parameters

index	The column's index.
global	If true, rotate the axis by the mean orientation.

Returns

getTransformed() [1/2]

PoseManifoldGaussian getTransformed	(	const Eigen::Matrix4f &	fromFrame,
		const Eigen::Matrix4f &	toFrame ) const

Transform this gaussian from one base coordinate system to another one.

Parameters

fromFrame	The original (current) base coordinate system' pose.
toFrame	The new base coordinate system' pose.

Returns

The same gaussian in thenew coordinate system.

getTransformed() [2/2]

PoseManifoldGaussian getTransformed

(

const Eigen::Matrix4f &

transform

)

const

Transform this gaussian by the given transform (e.g.

to another frame).

Parameters

transform

The transform to apply.

Returns

The transformed gaussian.

orientationCovariance() [1/2]

Eigen::Block< Eigen::Matrix< float, 6, 6 >, 3, 3 > orientationCovariance ( )

inline

Get the pure orientational part of the covariance matrix.

orientationCovariance() [2/2]

Eigen::Block< const Eigen::Matrix< float, 6, 6 >, 3, 3 > orientationCovariance ( ) const

inline

positionCovariance() [1/2]

Eigen::Block< Eigen::Matrix< float, 6, 6 >, 3, 3 > positionCovariance ( )

inline

Get the pure positional part of the covariance matrix.

positionCovariance() [2/2]

Eigen::Block< const Eigen::Matrix< float, 6, 6 >, 3, 3 > positionCovariance ( ) const

inline

Member Data Documentation

covariance

Eigen::Matrix<float, 6, 6> covariance = Eigen::Matrix<float, 6, 6>::Identity()

The covariance matrix.

mean

Eigen::Matrix4f mean = Eigen::Matrix4f::Identity()

The mean (i.e. a pose).

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

• RobotAPI/libraries/ArmarXObjects/PoseManifoldGaussian.h
• RobotAPI/libraries/ArmarXObjects/PoseManifoldGaussian.cpp