ahpTools.hpp File Reference

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Detailed Description

Date:

13/04/2010

Author:

jsola

This file defines the namespace landmarkAHP in jafar::rtslam.

Definition in file ahpTools.hpp.

Go to the source code of this file.

Namespaces
namespace	jafar
	Transport info from GDAL Datasets to Bands' internal data.
namespace	jafar::rtslam
	Namespace rtslam for real-time slam module.
namespace	jafar::rtslam::lmkAHP
	Namespace for operations on Anchored Homogeneous Points.
Functions
template<class AHP , class P0 , class M >
void	jafar::rtslam::lmkAHP::split (const AHP &ahp, P0 &p0, M &m, double &rho)
	Split AHP.
template<class P0 , class M >
vec7	jafar::rtslam::lmkAHP::compose (const P0 &p0, const M &m, const double rho)
	Compose AHP.
template<class VF , class Vlf >
vec	jafar::rtslam::lmkAHP::fromFrame (const VF &F, const Vlf &ahpf)
template<class VF , class Vahpf , class Vahp , class MAHP_f , class MAHP_ahpf >
void	jafar::rtslam::lmkAHP::fromFrame (const VF &F, const Vahpf &ahpf, Vahp &ahp, MAHP_f &AHP_f, MAHP_ahpf &AHP_ahpf)
template<class VF , class Vahp >
vec	jafar::rtslam::lmkAHP::toFrame (const VF &F, const Vahp &ahp)
template<class VF , class Vahp , class Vahpf , class MAHPF_f , class MAHPF_ahp >
void	jafar::rtslam::lmkAHP::toFrame (const VF &F, const Vahp &ahp, Vahpf &ahpf, MAHPF_f &AHPF_f, MAHPF_ahp &AHPF_ahp)
template<class VA >
vec3	jafar::rtslam::lmkAHP::ahp2euc (const VA &ahp)
	Reparametrize to Euclidean.
template<class VA , class VE , class ME_a >
void	jafar::rtslam::lmkAHP::ahp2euc (const VA &ahp, VE &euc, ME_a &EUC_ahp)
	Reparametrize to Euclidean, with Jacobians.
template<class VS , class VA >
vec3	jafar::rtslam::lmkAHP::toBearingOnlyFrame (const VS &s, const VA &ahp)
	Bring landmark to bearing-only sensor frame (without range information).
template<class VS , class VA , class VV >
void	jafar::rtslam::lmkAHP::toBearingOnlyFrame (const VS &s, const VA &ahp, VV &v, double &dist)
	Bring landmark to bearing-only sensor frame (give distance information).
template<class VS , class VA , class VV , class MV_s , class MV_a >
void	jafar::rtslam::lmkAHP::toBearingOnlyFrame (const VS &s, const VA &ahp, VV &v, double &dist, MV_s &V_s, MV_a &V_ahp)
	Bring landmark to bearing-only sensor frame (give distance information).
template<class VS , class VLS >
vec7	jafar::rtslam::lmkAHP::fromBearingOnlyFrame (const VS &s, const VLS &v, const double _rho)
	AHP landmark from bearing-only retro-projection.
template<class VS , class VLS , class VA , class MA_s , class MA_v , class MA_rho >
void	jafar::rtslam::lmkAHP::fromBearingOnlyFrame (const VS &s, const VLS &v, const double _rho, VA &ahp, MA_s &AHP_s, MA_v &AHP_v, MA_rho &AHP_rho)
	AHP landmark from bearing-only retro-projection, with Jacobians.
template<class VS , class VA , class MA_s >
double	jafar::rtslam::lmkAHP::linearityScore (const VS &senpose, const VA &ahp, const MA_s &AHP)