jafar::geomslam::SlamInvDepthPointDriver Class Reference

This class provides a geom::Point3D::Driver for a geom::Point3D , that uses the 3D position of a point coming from the slam. More...

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Detailed Description

This class provides a geom::Point3D::Driver for a geom::Point3D , that uses the 3D position of a point coming from the slam.

This Driver assumes that the state vector of the point is in inverse depth, and it uses the model to convert from the state vector to the 3D coordinates.

Definition at line 48 of file Points.hpp.

#include <Points.hpp>

Inheritance diagram for jafar::geomslam::SlamInvDepthPointDriver:

List of all members.

Public Member Functions
	SlamInvDepthPointDriver (const slam::BaseFeature *feature, slam::PointInvDepthFeatureModel &_model)
virtual Driver *	clone () const
virtual HomogenousVecD	homogenousCoordinates () const
virtual HomogenousSymMatrixD	homogenousCoordinatesCov () const
virtual const geom::Repere3D *	reference () const
virtual bool	hasCov () const
Private Types
typedef geom::Atom3D::HomogenousVecD	HomogenousVecD
typedef geom::Atom3D::VecD	VecD
typedef geom::Atom3D::HomogenousMatrixD	HomogenousMatrixD
typedef geom::Atom3D::HomogenousSymMatrixD	HomogenousSymMatrixD
typedef geom::Atom3D::SymMatrixD	SymMatrixD
Private Attributes
const slam::BaseFeature *	m_feature
slam::PointInvDepthFeatureModel &	m_model

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Member Function Documentation

virtual bool jafar::geomslam::SlamInvDepthPointDriver::hasCov

(

)

const [virtual]

Returns:

true if there is a covariance

Implements jafar::geom::Atom< dimension >::Driver.

virtual HomogenousVecD jafar::geomslam::SlamInvDepthPointDriver::homogenousCoordinates

(

)

const [virtual]

Returns:

the homogenous coordinates of the point

Implements jafar::geom::Point< dimension >::Driver.

virtual HomogenousSymMatrixD jafar::geomslam::SlamInvDepthPointDriver::homogenousCoordinatesCov

(

)

const [virtual]

Returns:

the covariance matrix of the point

Implements jafar::geom::Point< dimension >::Driver.

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The documentation for this class was generated from the following file:

• modules/geomslam/include/geomslam/Points.hpp