model

SLAM.LoopClosure.RGBDBodyRelativeEdge

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default
parameter	`coordinateLimit`	`Real`	`= 100.0`
parameter	`minimumPivot`	`Real`	`= 1e-10`
input	`currentFromReference`	`Real`	`[3,3] = identity(3)`
input	`opticalTranslation`	`Real`	`[3] = zeros(3)`
input	`opticalCovariance`	`Real`	`[6,6] = identity(6)`
input	`referenceOpticalToBody`	`Real`	`[3,3] = identity(3)`
input	`currentOpticalToBody`	`Real`	`[3,3] = identity(3)`
input	`referenceCameraOrigin`	`Real`	`[3] = zeros(3)`
input	`currentCameraOrigin`	`Real`	`[3] = zeros(3)`
input	`requested`	`Boolean`	`= false`
output	`measuredRotation`	`Real`	`[3,3]`
output	`measuredTranslation`	`Real`	`[3]`
output	`residualJacobian`	`Real`	`[6,6]`
output	`residualCovariance`	`Real`	`[6,6]`
output	`information`	`Real`	`[6,6]`
output	`valid`	`Boolean`
output	`rejectionReason`	`Integer`
output	`minimumScaledPivot`	`Real`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

model RGBDBodyRelativeEdge
  import RGBDOpticalToBodyEdge = SLAM.LoopClosure.RGBDOpticalToBodyEdge;

  parameter Real coordinateLimit = 100.0;
  parameter Real minimumPivot = 1e-10;
  input Real currentFromReference[3,3] = identity(3);
  input Real opticalTranslation[3] = zeros(3);
  input Real opticalCovariance[6,6] = identity(6);
  input Real referenceOpticalToBody[3,3] = identity(3);
  input Real currentOpticalToBody[3,3] = identity(3);
  input Real referenceCameraOrigin[3] = zeros(3);
  input Real currentCameraOrigin[3] = zeros(3);
  input Boolean requested = false;
  output Real measuredRotation[3,3]; output Real measuredTranslation[3];
  output Real residualJacobian[6,6]; output Real residualCovariance[6,6];
  output Real information[6,6]; output Boolean valid;
  output Integer rejectionReason; output Real minimumScaledPivot;
equation
  (measuredRotation,measuredTranslation,residualJacobian,residualCovariance,
    information,valid,rejectionReason,minimumScaledPivot) = RGBDOpticalToBodyEdge(
      currentFromReference,opticalTranslation,opticalCovariance,
      referenceOpticalToBody,currentOpticalToBody,referenceCameraOrigin,
      currentCameraOrigin,requested,coordinateLimit,minimumPivot);
end RGBDBodyRelativeEdge;