Class MissionBaseFrame

• Defined in File mission-baseframe.h

Class Documentation

class vi_map::MissionBaseFrame

Public Functions

inline MissionBaseFrame()

MissionBaseFrame(const MissionBaseFrameId &mission_baseframe_id, const pose::Transformation &T_G_M, const Eigen::Matrix<double, 6, 6> &T_G_M_covariance)

inline MAPLAB_GET_AS_CASTER const Eigen::Quaterniond & get_q_G_M () const

inline const Eigen::Matrix<double, 3, 1> &get_p_G_M() const

inline double *get_q_G_M_Mutable()

inline double *get_p_G_M_Mutable()

inline void set_q_G_M(const Eigen::Quaterniond &q_G_M)

inline void set_p_G_M(const Eigen::Matrix<double, 3, 1> &p_G_M)

inline const pose::Transformation &get_T_G_M() const

inline void set_T_G_M(const pose::Transformation &T_G_M)

inline const MissionBaseFrameId &id() const

inline void setId(const MissionBaseFrameId &id)

inline const Eigen::Matrix<double, 6, 6> &get_T_G_M_Covariance() const

inline void set_T_G_M_Covariance(const Eigen::Matrix<double, 6, 6> &covariance)

inline bool is_T_G_M_known() const

inline void set_is_T_G_M_known(bool is_T_G_M_known)

inline bool operator==(const MissionBaseFrame &lhs) const

inline bool operator!=(const MissionBaseFrame &lhs) const

Eigen::Vector3d transformPointInMissionFrameToGlobalFrame(const Eigen::Vector3d &M_p_fi) const

Eigen::Quaterniond transformRotationInMissionFrameToGlobalFrame(const Eigen::Quaterniond &M_q_fi) const

Eigen::Vector3d transformPointInGlobalFrameToMissionFrame(const Eigen::Vector3d &G_p_fi) const

void serialize(vi_map::proto::MissionBaseframe *proto) const

void deserialize(const vi_map::MissionBaseFrameId &baseframe_id, const vi_map::proto::MissionBaseframe &proto)

Public Members

MissionBaseFrame