jafar::rtslam::Expectation Class Reference

Base class for all Gaussian expectations defined in the module rtslam. More...

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Detailed Description

Base class for all Gaussian expectations defined in the module rtslam.

The expectation is defined as the projection of the state into the measurement space:

• this->x() = exp = h(x)

where the function h(x) belongs to some observation model.

Its covariances matrix is computed via Gaussian uncertainty propagation using the Jacobians of h():

• this->P() = EXP = EXP_rsl * P * EXP_rsl'

with EXP_rsl = dexp/dx = dh(x)/dx, computed also by the observation model.

Definition at line 41 of file expectation.hpp.

#include <expectation.hpp>

Inheritance diagram for jafar::rtslam::Expectation:

List of all members.

Public Member Functions
	Expectation (const size_t _size, const size_t _size_nonobs=0)
	size constructor
Public Attributes
vec	nonObs
	Expected value of the non-observable part.
bool	visible
double	infoGain
Friends
std::ostream &	operator<< (std::ostream &s, Expectation const &e_)

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

• modules/rtslam/include/rtslam/expectation.hpp