Class for Anchored homogeneous points lines. More...

Detailed Description

Class for Anchored homogeneous points lines.

Inheritance diagram for jafar::rtslam::LandmarkAnchoredHomogeneousPointsLine:

Public Member Functions
	LandmarkAnchoredHomogeneousPointsLine (const map_ptr_t &mapPtr)
	Constructor from map.
	LandmarkAnchoredHomogeneousPointsLine (const simulation_t dummy, const map_ptr_t &mapPtr)
	Constructor for simulated landmark.
	LandmarkAnchoredHomogeneousPointsLine (const map_ptr_t &_mapPtr, const landmark_ptr_t _prevLmk, jblas::ind_array &_icomp)
	Constructor by replacement: occupied the same filter state as a specified previous lmk.
virtual std::string	typeName () const
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 &lmk, vec &lnew, mat &LNEW_lmk) const
virtual bool	needToDie ()
	Evaluate the landmark's special need to die.
virtual bool	needToReparametrize (DecisionMethod met=ALL)
Static Public Member Functions
static size_t	size (void)

Constructor & Destructor Documentation

jafar::rtslam::LandmarkAnchoredHomogeneousPointsLine::LandmarkAnchoredHomogeneousPointsLine	(	const map_ptr_t &	_mapPtr,
		const landmark_ptr_t	_prevLmk,
		jblas::ind_array &	_icomp
	)

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 bool jafar::rtslam::LandmarkAnchoredHomogeneousPointsLine::needToDie ( ) [virtual]

Evaluate the landmark's special need to die.

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