jafar::geomslam::SlamSegmentDriver Class Reference

This class provides a geom::Segment3D::Driver for a geom::Segment3D , that uses the 3D position of a point coming from the slam. More...

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Detailed Description

This class provides a geom::Segment3D::Driver for a geom::Segment3D , that uses the 3D position of a point coming from the slam.

Definition at line 19 of file Segments.hpp.

#include <Segments.hpp>

Inheritance diagram for jafar::geomslam::SlamSegmentDriver:

List of all members.

Public Member Functions
	SlamSegmentDriver (const slam::SegmentFeature *_segmentFeature)
virtual geom::Line3D	support () const
virtual HomogenousVecD	firstPoint () const
virtual HomogenousSymMatrixD	firstPointCov () const
virtual HomogenousVecD	lastPoint () const
virtual HomogenousSymMatrixD	lastPointCov () const
virtual geom::Segment3D::Driver *	cloneSegmentDriver () const
virtual geom::Line3D::Driver *	asLineDriver ()
	As Segment inherits Line, it is expected that the same Driver of Segment will also be used for the Line and that it should also inherits the base class for Line Driver.
virtual HomogenousVecD	pointAt (double t) const
virtual HomogenousVecD	origin () const
virtual HomogenousSymMatrixD	originCov () const
virtual HomogenousVecD	direction () const
virtual HomogenousSymMatrixD	directionCov () const
virtual geom::Line3D::Driver *	cloneLineDriver () 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
Private Attributes
const slam::SegmentFeature *	m_segmentFeature

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Member Function Documentation

virtual geom::Line3D::Driver* jafar::geomslam::SlamSegmentDriver::asLineDriver

(

)

[virtual]

As Segment inherits Line, it is expected that the same Driver of Segment will also be used for the Line and that it should also inherits the base class for Line Driver.

This class allows to access this Driver as a Line::Driver

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

virtual geom::Line3D::Driver* jafar::geomslam::SlamSegmentDriver::cloneLineDriver

(

)

const [virtual]

Returns:

a deep copy of this driver

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

virtual geom::Segment3D::Driver* jafar::geomslam::SlamSegmentDriver::cloneSegmentDriver

(

)

const [virtual]

Returns:

a deep-copy of this driver

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

virtual HomogenousVecD jafar::geomslam::SlamSegmentDriver::direction

(

)

const [virtual]

Returns:

the direction of the line

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

virtual HomogenousVecD jafar::geomslam::SlamSegmentDriver::firstPoint

(

)

const [virtual]

Returns:

the so-called "first point" (it is expected that this point correspond to the point returned by pointAt(0.0); )

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

virtual bool jafar::geomslam::SlamSegmentDriver::hasCov

(

)

const [virtual]

Returns:

true if there is a covariance

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

virtual HomogenousVecD jafar::geomslam::SlamSegmentDriver::lastPoint

(

)

const [virtual]

Returns:

the so-called "last point" (it is expected that this point correspond to the point returned by pointAt(1.0); )

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

virtual HomogenousVecD jafar::geomslam::SlamSegmentDriver::origin

(

)

const [virtual]

Returns:

the origin of the line (it should correspond to t = 0.0), but there is no specific constraint

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

virtual HomogenousVecD jafar::geomslam::SlamSegmentDriver::pointAt

(

double

t

)

const [virtual]

Parameters:

t

parameter

Returns:

the coordinates of the point corresponding to the parameter t

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

virtual geom::Line3D jafar::geomslam::SlamSegmentDriver::support

(

)

const [virtual]

Returns:

the Line that support this Segment (this is the Line that contains this Segment)

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

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

• modules/geomslam/include/geomslam/Segments.hpp