jafar::rtslam::LandmarkAbstract Class Reference

Base class for all landmarks defined in the module rtslam. More...

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Detailed Description

Base class for all landmarks defined in the module rtslam.

Definition at line 48 of file landmarkAbstract.hpp.

#include <landmarkAbstract.hpp>

Inheritance diagram for jafar::rtslam::LandmarkAbstract:

List of all members.

Public Types
enum	geometry_t { POINT, LINE, PLANE, ELLIPSE }
enum	type_enum { PNT_EUC, PNT_AH, LINE_AHPL }
enum	killed_enum { kNo = 0, kDuplicate, kCellOverflow }
enum	DecisionMethod { ANY, ALL, MAJORITY }
Public Member Functions
	LandmarkAbstract (const map_ptr_t &_mapPtr, const size_t _size, bool freeze_first=false)
	constructor from map and size
	LandmarkAbstract (const simulation_t dummy, const map_ptr_t &_mapPtr, const size_t _size, bool freeze_first=false)
	LandmarkAbstract (const map_ptr_t &_mapPtr, const landmark_ptr_t &_prevLmk, const size_t _size, jblas::ind_array &_icomp, bool freeze_first=false)
	Constructor by replacement: occupied the same filter state as a specified previous lmk.
virtual	~LandmarkAbstract ()
	Mandatory virtual destructor.
void	setId ()
std::string	categoryName () const
geometry_t	getGeomType () const
virtual std::string	typeName () const
void	reparametrize (const landmark_ptr_t &lmkDestPtr)
void	reparametrize (int size, vec &xNew, sym_mat &pNew)
jblas::vec	reparametrized () const
virtual vec	reparametrize_func (const vec &lmk) const =0
virtual void	reparametrize_func (const vec &lmk, vec &lnew, mat &LNEW_lmk) const =0
virtual jblas::ind_array	nobs ()=0
	Indices of the state that are supposed to be non observable (typically inverse depth for points from camera ; if the sensor can observe depth, we won't use an inverse depth parametrization)
virtual size_t	mySize ()=0
	Size of the landmark state.
virtual size_t	reparamSize ()=0
	Size of the reparametrized landmark.
virtual jblas::vec3	center ()=0
	Position x,y,z of the center of the landmark.
virtual double	uncertainty ()=0
	The max uncertainty of the landmark position (3 sigma in meters)
virtual void	setDescriptor (const descriptor_ptr_t &descPtr)
virtual bool	needToDie ()
	Evaluate the landmark's special need to die.
void	destroyDisplay ()
	destroy the display data of itself and its children
void	suicide ()
	Suicide.
virtual void	transferInfoLmk (landmark_ptr_t &lmkSourcePtr)
void	fillEvents ()
unsigned	countObserved ()
Public Attributes
type_enum	type
bool	converged
bool	visible
bool	updatable
killed_enum	killed
descriptor_ptr_t	descriptorPtr
	Landmark descriptor.
VisibilityMap	visibilityMap
Gaussian	first_state
jblas::mat	LNEW_lmk
	Jacobian comming from reparametrisation of old lmk wrt. new lmk.
Static Public Attributes
static IdFactory	landmarkIds
Protected Attributes
geometry_t	geomType
Friends
std::ostream &	operator<< (std::ostream &s, LandmarkAbstract const &obs)
image::oimstream &	operator<< (image::oimstream &s, LandmarkAbstract const &lmk)

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Constructor & Destructor Documentation

jafar::rtslam::LandmarkAbstract::LandmarkAbstract	(	const map_ptr_t &	_mapPtr,
		const landmark_ptr_t &	_prevLmk,
		const size_t	_size,
		jblas::ind_array &	_icomp,
		bool	freeze_first = false
	)

Constructor by replacement: occupied the same filter state as a specified previous lmk.

_icomp is the complementary memory, to be relaxed by the user.

virtual jafar::rtslam::LandmarkAbstract::~LandmarkAbstract

(

)

[virtual]

Mandatory virtual destructor.

We purposely kill all links from sensors to the observations depending on this landmark. This way, killing the landmark will kill all derived observations because all shared_ptr will be eliminated.

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Member Function Documentation

virtual bool jafar::rtslam::LandmarkAbstract::needToDie

(

)

[inline, virtual]

Evaluate the landmark's special need to die.

Returns:

true if the landmark should die.

Reimplemented in jafar::rtslam::LandmarkAnchoredHomogeneousPointsLine, and jafar::rtslam::LandmarkAnchoredHomogeneousPoint.

Definition at line 168 of file landmarkAbstract.hpp.

void jafar::rtslam::LandmarkAbstract::suicide

(

)

Suicide.

We cut the linik to parent and the object naturally dies.

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

• modules/rtslam/include/rtslam/landmarkAbstract.hpp