ahplTools.hpp File Reference

---

Detailed Description

Date:

28/02/2011

Author:

bhautboi

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

Definition in file ahplTools.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::lmkAHPL
	Namespace for operations on Anchored Homogeneous Points Lines.
Functions
template<class AHPL , class P0 , class M >
void	jafar::rtslam::lmkAHPL::split (const AHPL &ahpl, P0 &p0, M &m1, M &m2, double &rho1, double &rho2)
	Split AHPL.
template<class P0 , class M >
vec11	jafar::rtslam::lmkAHPL::compose (const P0 &p0, const M &m1, const M &m2, const double rho1, const double rho2)
	Compose AHP.
template<class VF , class Vlf >
vec	jafar::rtslam::lmkAHPL::fromFrame (const VF &F, const Vlf &ahplf)
template<class VF , class Vahplf , class Vahpl , class MAHPL_f , class MAHPL_ahplf >
void	jafar::rtslam::lmkAHPL::fromFrame (const VF &F, const Vahplf &ahplf, Vahpl &ahpl, MAHPL_f &AHPL_f, MAHPL_ahplf &AHPL_ahplf)
template<class VF , class Vahpl >
vec	jafar::rtslam::lmkAHPL::toFrame (const VF &F, const Vahpl &ahpl)
template<class VF , class Vahpl , class Vahplf , class MAHPLF_f , class MAHPLF_ahp >
void	jafar::rtslam::lmkAHPL::toFrame (const VF &F, const Vahpl &ahpl, Vahplf &ahplf, MAHPLF_f &AHPLF_f, MAHPLF_ahp &AHPLF_ahpl)
template<class VA >
vec6	jafar::rtslam::lmkAHPL::ahpl2euc (const VA &ahpl)
	Reparametrize to Euclidean.
template<class VS , class VA , class VV >
void	jafar::rtslam::lmkAHPL::toBearingOnlyFrame (const VS &s, const VA &ahpl, VV &v1, VV &v2)
	Reparametrize to Euclidean, with Jacobians.
template<class VS , class VA , class VV >
void	jafar::rtslam::lmkAHPL::toBearingOnlyFrame (const VS &s, const VA &ahpl, VV &v1, VV &v2, double &dist1, double &dist2)
	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::lmkAHPL::toBearingOnlyFrame (const VS &s, const VA &ahpl, VV &v1, VV &v2, double &dist1, double &dist2, MV_s &V1_s, MV_a &V1_ahpl, MV_s &V2_s, MV_a &V2_ahpl)
	Bring landmark to bearing-only sensor frame (give distance information).
template<class VS , class VLS >
vec11	jafar::rtslam::lmkAHPL::fromBearingOnlyFrame (const VS &s, const VLS &v1, const VLS &v2, const double _rho1, const double _rho2)
	AHP landmark from bearing-only retro-projection.
void	jafar::rtslam::lmkAHPL::fromBearingOnlyFrame (const vec7 &s, const vec3 &v1, const vec3 &v2, const double _rho1, const double _rho2, vec &ahpl, mat &AHPL_s, mat &AHPL_v1, mat &AHPL_v2, mat &AHPL_rho1, mat &AHPL_rho2)
	AHP landmark from bearing-only retro-projection, with Jacobians.
template<class VS , class VA , class MA_s >
double	jafar::rtslam::lmkAHPL::linearityScore (const VS &senpose, const VA &ahpl, const MA_s &AHPL)