jafar::rtslam::MapManager Class Reference

This class is a default implementation of MapManagerAbstract, that only reparametrize and kill landmarks with a too large search area. More...

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Detailed Description

This class is a default implementation of MapManagerAbstract, that only reparametrize and kill landmarks with a too large search area.

Definition at line 101 of file mapManager.hpp.

#include <mapManager.hpp>

Inheritance diagram for jafar::rtslam::MapManager:

List of all members.

Public Member Functions
	MapManager (landmark_factory_ptr_t lmkFactory, double reparTh=0.1, double killSizeTh=100000)
virtual void	manage ()
	Manage when the landmarks are removed from the map or reparametrized.
virtual bool	isExclusive (observation_ptr_t obsPtr)
	Returns if the given observation must be exclusive in the FeatureManager (ie we believe there are good chances to find it again very soon), or if new landmarks can be initialized ignoring this observation (ie we believe there is little chance to find it again very soon)
Protected Member Functions
virtual void	manageReparametrization ()
virtual void	manageDefaultDeletion ()
virtual void	manageDeletion ()
Protected Attributes
double	reparTh
	linearity threshold for reparametrization
double	killSizeTh
	maximum search size, if bigger it will be deleted

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

• modules/rtslam/include/rtslam/mapManager.hpp