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

DWARF::StaticAutoCalibrationService Class Reference
[Ubitrack Static Autocalibration Service]

The class handling the setup of needs & abilities. More...

Inheritance diagram for DWARF::StaticAutoCalibrationService:

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Collaboration diagram for DWARF::StaticAutoCalibrationService:

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Public Member Functions

void onEvent (const PoseData &p)

Protected Member Functions

void run ()
 The main execution loop.

Private Member Functions

TNT::Array2D< double > GetV ()
TNT::Array2D< double > Pose2State (const PoseData &p)
void State2Pose (const TNT::Array2D< double > &v, PoseData &p)
TNT::Array2D< double > Pose2StateErr (const PoseData &p)
void State2PoseErr (const TNT::Array2D< double > &c, PoseData &p)

Detailed Description

The class handling the setup of needs & abilities.

This class is derived from the DWARF C++ Template service.

Author:
Daniel Pustka <pustka@in.tum.de>

Definition at line 55 of file StaticAutoCalibrationService.h.


Member Function Documentation

TNT::Array2D< double > StaticAutoCalibrationService::GetV  )  [private]
 

returns matrix V of the extended kalman filter

Definition at line 76 of file StaticAutoCalibrationService.cpp.

void StaticAutoCalibrationService::onEvent const PoseData p  ) 
 

Handles incoming PoseData

Reimplemented from DWARF::PoseService.

Definition at line 157 of file StaticAutoCalibrationService.cpp.

TNT::Array2D< double > StaticAutoCalibrationService::Pose2State const PoseData p  )  [private]
 

converts a PoseData to the state-(column-)vector representation

Definition at line 56 of file StaticAutoCalibrationService.cpp.

TNT::Array2D< double > StaticAutoCalibrationService::Pose2StateErr const PoseData p  )  [private]
 

converts pose covariance to additive state-error

Definition at line 96 of file StaticAutoCalibrationService.cpp.

void StaticAutoCalibrationService::State2Pose const TNT::Array2D< double > &  v,
PoseData p
[private]
 

copies a state-(column-)vector to the pos and ori fields of a PoseData

Definition at line 67 of file StaticAutoCalibrationService.cpp.

void StaticAutoCalibrationService::State2PoseErr const TNT::Array2D< double > &  c,
PoseData p
[private]
 

converts additive state-error to pose covariance

Definition at line 127 of file StaticAutoCalibrationService.cpp.

DWARF::StaticAutoCalibrationService Class Reference | generated on Sun Apr 29 02:02:04 2007 by Doxygen 1.4.1 for DWARF