jafar::rtslam::ObservationModelAbstract Class Reference

An observation model only contains pseudo-static functions A reference to the sensor is kepts because it has a lot of parameters that cannot easily be abstracted, and to avoid to cast an abstract sensor object every time. More...

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Detailed Description

An observation model only contains pseudo-static functions A reference to the sensor is kepts because it has a lot of parameters that cannot easily be abstracted, and to avoid to cast an abstract sensor object every time.

Definition at line 39 of file observationAbstract.hpp.

#include <observationAbstract.hpp>

Inheritance diagram for jafar::rtslam::ObservationModelAbstract:

List of all members.

Public Types
typedef boost::weak_ptr < SensorAbstract >	sensor_wptr_t
Public Member Functions
void	linkToSensor (sensor_ptr_t ptr)
sensor_ptr_t	sensorPtr (void)
virtual void	linkToSensorSpecific (sensor_ptr_t ptr)=0
virtual void	project_func (const vec7 &sg, const vec &lmk, vec &meas, vec &nobs)=0
	Project.
virtual void	project_func (const vec7 &sg, const vec &lmk, vec &exp, vec &nobs, mat &EXP_sg, mat &EXP_lmk)=0
	Project and get Jacobians.
virtual void	project_func (const vec7 &sg, const vec &lmk, vec &exp, vec &nobs, mat &EXP_sg, mat &EXP_lmk, const vec lmk_fej)
virtual void	backProject_func (const vec7 &sg, const vec &meas, const vec &nobs, vec &lmk)=0
	Back-project function.
virtual void	backProject_func (const vec7 &sg, const vec &meas, const vec &nobs, vec &lmk, mat &LMK_sg, mat &LMK_meas, mat &LMK_nobs)=0
	Back-project function.
virtual bool	predictVisibility_func (jblas::vec x, jblas::vec nobs)=0
Protected Attributes
sensor_wptr_t	sensorWPtr

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Member Function Documentation

virtual void jafar::rtslam::ObservationModelAbstract::project_func	(	const vec7 &	sg,
		const vec &	lmk,
		vec &	meas,
		vec &	nobs
	)		[pure virtual]

Project.

This projects the landmark into the sensor space.

Parameters:

sg	global sensor pose
lmk	landmark state vector
exp	expectation vector
nobs	non-observable vector

Implemented in jafar::rtslam::ObservationModelPinHoleAnchoredHomogeneousPoint, jafar::rtslam::ObservationModelPinHoleAnchoredHomogeneousPointsLine, and jafar::rtslam::ObservationModelPinHoleEuclideanPoint.

virtual void jafar::rtslam::ObservationModelAbstract::project_func	(	const vec7 &	sg,
		const vec &	lmk,
		vec &	exp,
		vec &	nobs,
		mat &	EXP_sg,
		mat &	EXP_lmk
	)		[pure virtual]

Project and get Jacobians.

This projects the landmark into the sensor space, and gives the Jacobians of this projection wrt. the global sensor pose and the landmark.

Parameters:

sg	global sensor pose
lmk	landmark state vector
exp	expectation vector
nobs	non-observable vector
EXP_sg	Jacobian of exp wrt sg
EXP_lmk	Jacobian of exp wrt lmk

Implemented in jafar::rtslam::ObservationModelPinHoleAnchoredHomogeneousPoint, jafar::rtslam::ObservationModelPinHoleAnchoredHomogeneousPointsLine, and jafar::rtslam::ObservationModelPinHoleEuclideanPoint.

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

• modules/rtslam/include/rtslam/observationAbstract.hpp