ot::PoseDESP Class Reference

#include <DESP.h>

Collaboration diagram for ot::PoseDESP:

[legend]List of all members.

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Detailed Description

Double Exponential Smoothing Prediction for a pose matrix.

Internally converts the pose matrix to position and orientation, which are each filtered using scalar DESP (component-wise). Then rebuilds the matrix.

Public Member Functions
	PoseDESP ()
void	setAlpha (float nAlphaPos, float nAlphaRot)
void	observe (std::vector< float > position_, std::vector< float > quaternion_)
void	predict (int delta_t, std::vector< float > &position_, std::vector< float > &quaternion_)
void	reinit ()
Protected Attributes
DESP	pos [3]
DESP	rot [4]

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Constructor & Destructor Documentation

ot::PoseDESP::PoseDESP (   )

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Member Function Documentation

void ot::PoseDESP::observe (  std::vector< float >  position_, std::vector< float >  quaternion_ )

void ot::PoseDESP::predict (  int  delta_t, std::vector< float > &  position_, std::vector< float > &  quaternion_ )

void ot::PoseDESP::reinit (   )

void ot::PoseDESP::setAlpha (  float  nAlphaPos, float  nAlphaRot )

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Member Data Documentation

DESP ot::PoseDESP::pos[3] [protected]

DESP ot::PoseDESP::rot[4] [protected]

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

• include/OpenTracker/common/DESP.h
• src/common/DESP.cxx

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