Class for generic mappable objects. More...

Detailed Description

Class for generic mappable objects.

Definition at line 30 of file mapObject.hpp.

Inheritance diagram for jafar::rtslam::MapObject:

Public Types
enum	filtered_obj_t { FILTERED, UNFILTERED }
	Use this enum in constructors to indicate if the object's state vector should be part of the filter. More...
Public Member Functions
	MapObject (const map_ptr_t &_mapPtr, const size_t _size, const size_t _sizeU)
	Selectable constructor with inFilter flag.
void	construct (const map_ptr_t &_mapPtr, const size_t _size, const size_t _sizeU)
	MapObject (const map_ptr_t &_mapPtr, const MapObject &_previousObj, const size_t _size, jblas::ind_array &_icomp)
	Contructor by replacement: install the new object in place of the given arguments, using the same position in the filter.
virtual	~MapObject ()
	Mandatory virtual destructor.
void	setup (const vec &_state, const vec &_stateStdDev)
void	setupU (const vec &_state, const vec &_stateStdDev)
void	setup (const vec &_state, const sym_mat &_stateCov)
void	setupU (const vec &_state, const sym_mat &_stateCov)
virtual std::string	categoryName () const
Static Public Member Functions
static size_t	size ()
Public Attributes
Gaussian	state
	Part of object's state vector that is part of the SLAM filter (filtered)
Gaussian	stateU
	Part of object's state vector that is not part of the SLAM filter (unfiltered)
Friends
std::ostream &	operator<< (std::ostream &s, MapObject const &obj)

Member Enumeration Documentation

Use this enum in constructors to indicate if the object's state vector should be part of the filter.

Enumerator:

FILTERED	Object's state vector is part of the SLAM filter.
UNFILTERED	Object's state vector is not part of the SLAM filter.

Definition at line 39 of file mapObject.hpp.

jafar::rtslam::MapObject::MapObject	(	const map_ptr_t &	_mapPtr,
		const size_t	_size,
		const size_t	_sizeU
	)

Selectable constructor with inFilter flag.

Parameters:

_mapPtr	pointer to map
_size	size of the filtered state vector
_sizeU	size of the unfiltered state vector

jafar::rtslam::MapObject::MapObject	(	const map_ptr_t &	_mapPtr,
		const MapObject &	_previousObj,
		const size_t	_size,
		jblas::ind_array &	_icomp
	)

Contructor by replacement: install the new object in place of the given arguments, using the same position in the filter.

The previous object has to be FILTERED, so is the new object.

Parameters:

_mapPtr	pointer to map _previousObj the object to be replaced in the filter. Should by FILTERED
_size	the new size of the state vector.
_icomp	the complementary of the new state wrt the previous state, ie the memory to be release when relaxing the previous object.

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