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Chair for Computer Aided Medical Procedures & Augmented Reality
Lehrstuhl für Informatikanwendungen in der Medizin & Augmented Reality

DWARF::EasyPoseData Class Reference

A wrapper for the PoseData structure with some convenience. More...

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Public Member Functions

 EasyPoseData (const char *pSource=NULL, const char *pTarget=NULL, bool bInitializeError=true)
 Default constructor Initializes all fields to some default values.
 EasyPoseData (const DWARF::PoseData &p)
 Copies all values from a PoseData.
EasyPoseDataoperator= (const DWARF::PoseData &p)
 Copies all values from a PoseData.
void setSource (const char *s)
void setSource (const std::string &s)
void setSource (const std::string *s)
const char * getSource () const
void setTarget (const char *t)
void setTarget (const std::string &t)
void setTarget (const std::string *t)
const char * getTarget () const
void setPosition (int index, double value)
void setPosition (const double *p)
double getPosition (int index) const
void getPosition (double *p) const
void setOrientation (int index, double value)
void setOrientation (const double *o)
double getOrientation (int index) const
void getOrientation (double *o) const
void setTimestamp (const DWARF::Time *t)
void setTimestamp (const DWARF::Time &t)
Time getTimestamp () const
void updateTimestamp ()
void setConfidence (double c)
double getConfidence () const
void setPositionAccuracy (double sigma)
void setOrientationAccuracy (double sigma)
 Sets the orientation part of the covariance matrix to I*sigma^2 This means that all variables are assumed to be independent @ param sigma standard deviation.
void setTimeError (double sigma)
double getTimeError () const
EasyPoseData inverse () const
EasyPoseData product (const PoseData &P)
bool isSane () const

Static Public Member Functions

static EasyPoseData inverse (const PoseData &P)
static EasyPoseData product (const PoseData &P1, const PoseData &P2)
static bool isSane (const PoseData &P)

Detailed Description

A wrapper for the PoseData structure with some convenience.

Definition at line 36 of file EasyPoseData.h.


Constructor & Destructor Documentation

EasyPoseData::EasyPoseData const char *  pSource = NULL,
const char *  pTarget = NULL,
bool  bInitializeError = true
 

Default constructor Initializes all fields to some default values.

Parameters:
pSource Value for the source object ID
pTarget Value for the target object ID
bInitializeError should covariance be initialized with default values?

Definition at line 70 of file EasyPoseData.cpp.


Member Function Documentation

double DWARF::EasyPoseData::getConfidence  )  const [inline]
 

get the measurement confidence

Definition at line 155 of file EasyPoseData.h.

void DWARF::EasyPoseData::getOrientation double *  o  )  const [inline]
 

get whole orientation

Definition at line 129 of file EasyPoseData.h.

double DWARF::EasyPoseData::getOrientation int  index  )  const [inline]
 

get single orientation value

Definition at line 125 of file EasyPoseData.h.

void DWARF::EasyPoseData::getPosition double *  p  )  const [inline]
 

get whole position

Definition at line 112 of file EasyPoseData.h.

double DWARF::EasyPoseData::getPosition int  index  )  const [inline]
 

get single position value

Definition at line 108 of file EasyPoseData.h.

const char* DWARF::EasyPoseData::getSource  )  const [inline]
 

get the source ID

Definition at line 78 of file EasyPoseData.h.

const char* DWARF::EasyPoseData::getTarget  )  const [inline]
 

get the target ID

Definition at line 95 of file EasyPoseData.h.

double DWARF::EasyPoseData::getTimeError  )  const [inline]
 

gets the time error (standard deviation)

Definition at line 179 of file EasyPoseData.h.

Time DWARF::EasyPoseData::getTimestamp  )  const [inline]
 

get the timestamp

Definition at line 142 of file EasyPoseData.h.

EasyPoseData DWARF::EasyPoseData::inverse  )  const [inline]
 

inverse( *this )

Definition at line 190 of file EasyPoseData.h.

EasyPoseData EasyPoseData::inverse const PoseData P  )  [static]
 

returns an inverted PoseData with correctly transformed covariance Note: doing this twice will increase the error!

Definition at line 121 of file EasyPoseData.cpp.

bool DWARF::EasyPoseData::isSane  )  const [inline]
 

isSane( *this )

Definition at line 211 of file EasyPoseData.h.

bool EasyPoseData::isSane const PoseData P  )  [static]
 

pose sanity checks checks for NANs, quaternion length, etc

Definition at line 223 of file EasyPoseData.cpp.

EasyPoseData DWARF::EasyPoseData::product const PoseData P  )  [inline]
 

product( *this, P )

Definition at line 200 of file EasyPoseData.h.

EasyPoseData EasyPoseData::product const PoseData P1,
const PoseData P2
[static]
 

computes the product of two PoseData structures with correctly transformed covariance

Definition at line 168 of file EasyPoseData.cpp.

void DWARF::EasyPoseData::setConfidence double  c  )  [inline]
 

set the measurement confidence

Definition at line 151 of file EasyPoseData.h.

void DWARF::EasyPoseData::setOrientation const double *  o  )  [inline]
 

set whole position from array

Definition at line 121 of file EasyPoseData.h.

void DWARF::EasyPoseData::setOrientation int  index,
double  value
[inline]
 

set single orientation value

Definition at line 117 of file EasyPoseData.h.

void DWARF::EasyPoseData::setPosition const double *  p  )  [inline]
 

set whole position from array

Definition at line 104 of file EasyPoseData.h.

void DWARF::EasyPoseData::setPosition int  index,
double  value
[inline]
 

set single position value

Definition at line 100 of file EasyPoseData.h.

void EasyPoseData::setPositionAccuracy double  sigma  ) 
 

sets the position part of the covariance matrix to I*sigma^2 This means that all variables are assumed to be independent @ param sigma standard deviation

Definition at line 95 of file EasyPoseData.cpp.

void DWARF::EasyPoseData::setSource const std::string *  s  )  [inline]
 

set the source ID

Definition at line 74 of file EasyPoseData.h.

void DWARF::EasyPoseData::setSource const std::string &  s  )  [inline]
 

set the source ID

Definition at line 70 of file EasyPoseData.h.

void DWARF::EasyPoseData::setSource const char *  s  )  [inline]
 

set the source ID

Definition at line 66 of file EasyPoseData.h.

void DWARF::EasyPoseData::setTarget const std::string *  t  )  [inline]
 

set the target ID

Definition at line 91 of file EasyPoseData.h.

void DWARF::EasyPoseData::setTarget const std::string &  t  )  [inline]
 

set the target ID

Definition at line 87 of file EasyPoseData.h.

void DWARF::EasyPoseData::setTarget const char *  t  )  [inline]
 

set the target ID

Definition at line 83 of file EasyPoseData.h.

void DWARF::EasyPoseData::setTimeError double  sigma  )  [inline]
 

sets the time error (standard deviation)

Definition at line 175 of file EasyPoseData.h.

void DWARF::EasyPoseData::setTimestamp const DWARF::Time &  t  )  [inline]
 

set the timestamp

Definition at line 138 of file EasyPoseData.h.

void DWARF::EasyPoseData::setTimestamp const DWARF::Time *  t  )  [inline]
 

set the timestamp

Definition at line 134 of file EasyPoseData.h.

void DWARF::EasyPoseData::updateTimestamp  )  [inline]
 

set the timestamp to the current time

Definition at line 146 of file EasyPoseData.h.

DWARF::EasyPoseData Class Reference | generated on Sun Apr 29 02:02:03 2007 by Doxygen 1.4.1 for DWARF