model

SLAM.PoseGraph.ModelicaPoseGraphEdge

Public declarations

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

Role	Name	Type	Dimensions / attributes / default
input	`pi`	`Real`	`[3] = zeros(3)`
input	`pj`	`Real`	`[3] = zeros(3)`
input	`Ri`	`Real`	`[3,3] = identity(3)`
input	`Rj`	`Real`	`[3,3] = identity(3)`
input	`translation`	`Real`	`[3] = zeros(3)`
input	`measuredRotation`	`Real`	`[3,3] = identity(3)`
output	`residual`	`Real`	`[6]`
output	`Ji`	`Real`	`[6,6]`
output	`Jj`	`Real`	`[6,6]`
output	`valid`	`Real`

Modelica declarations and implementation

Show parameters, interfaces and source

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

model ModelicaPoseGraphEdge
  import PGEdgeDiagnostics = SLAM.PoseGraph.PGEdgeDiagnostics;

  input Real pi[3] = zeros(3); input Real pj[3] = zeros(3);
  input Real Ri[3,3] = identity(3); input Real Rj[3,3] = identity(3);
  input Real translation[3] = zeros(3); input Real measuredRotation[3,3] = identity(3);
  output Real residual[6]; output Real Ji[6,6]; output Real Jj[6,6]; output Real valid;
equation
  (residual,Ji,Jj,valid) = PGEdgeDiagnostics(pi,Ri,pj,Rj,translation,measuredRotation);
end ModelicaPoseGraphEdge;