jafar::rtslam::LandmarkAnchoredHomogeneousPoint Class Reference

Class for anchored homogeneous 3D points. More...

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Detailed Description

Class for anchored homogeneous 3D points.

Definition at line 35 of file landmarkAnchoredHomogeneousPoint.hpp.

#include <landmarkAnchoredHomogeneousPoint.hpp>

Inheritance diagram for jafar::rtslam::LandmarkAnchoredHomogeneousPoint:

List of all members.

Public Member Functions
	LandmarkAnchoredHomogeneousPoint (const map_ptr_t &mapPtr)
	Constructor from map.
	LandmarkAnchoredHomogeneousPoint (const simulation_t dummy, const map_ptr_t &mapPtr)
virtual std::string	typeName () const
virtual bool	needToDie ()
	Evaluate the landmark's special need to die.
virtual jblas::ind_array	nobs ()
	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 ()
	Size of the landmark state.
virtual size_t	reparamSize ()
	Size of the reparametrized landmark.
virtual jblas::vec3	center ()
	Position x,y,z of the center of the landmark.
virtual double	uncertainty ()
	The max uncertainty of the landmark position (3 sigma in meters)
virtual vec	reparametrize_func (const vec &lmk) const
void	reparametrize_func (const vec &ahp, vec &euc, mat &EUC_ahp) const
	Reparametrize to Euclidean, with Jacobians.
Static Public Member Functions
static size_t	size (void)
Static Public Attributes
static unsigned	ncreated

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Member Function Documentation

virtual bool jafar::rtslam::LandmarkAnchoredHomogeneousPoint::needToDie

(

)

[virtual]

Evaluate the landmark's special need to die.

Returns:

true if the landmark should die.

Reimplemented from jafar::rtslam::LandmarkAbstract.

void jafar::rtslam::LandmarkAnchoredHomogeneousPoint::reparametrize_func	(	const vec &	ahp,
		vec &	euc,
		mat &	EUC_ahp
	)		const [inline, virtual]

Reparametrize to Euclidean, with Jacobians.

Parameters:

ahp	the anchored homogeneous point to be reparametrized.
euc	the returned Euclidean point.
EUC_ahp	the Jacobian of the conversion.

Implements jafar::rtslam::LandmarkAbstract.

Definition at line 88 of file landmarkAnchoredHomogeneousPoint.hpp.

References jafar::rtslam::lmkAHP::ahp2euc().

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

• modules/rtslam/include/rtslam/landmarkAnchoredHomogeneousPoint.hpp