function

SLAM.PoseGraph.PGEdgeDiagnostics

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]`
input	`Ri`	`Real`	`[3,3]`
input	`pj`	`Real`	`[3]`
input	`Rj`	`Real`	`[3,3]`
input	`translation`	`Real`	`[3]`
input	`measuredRotation`	`Real`	`[3,3]`
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.

function PGEdgeDiagnostics
  import PGEdge = SLAM.PoseGraph.PGEdge;

  input Real pi[3]; input Real Ri[3,3]; input Real pj[3]; input Real Rj[3,3]; input Real translation[3]; input Real measuredRotation[3,3];
  output Real residual[6]; output Real Ji[6,6]; output Real Jj[6,6]; output Real valid;
protected Boolean chartValid;
algorithm
  (residual,Ji,Jj,chartValid) := PGEdge(pi,Ri,pj,Rj,translation,measuredRotation); valid := if chartValid then 1.0 else 0.0;
end PGEdgeDiagnostics;