Detailed Description

Inheritance diagram for jafar::rtslam::ObservationModelPinHoleAnchoredHomogeneousPoint:

Public Types
typedef SensorPinhole	sensor_spec_t
typedef boost::shared_ptr < sensor_spec_t >	sensor_spec_ptr_t
typedef boost::weak_ptr < sensor_spec_t >	sensor_spec_wptr_t
Public Member Functions
void	linkToPinHole (sensor_spec_ptr_t ptr)
sensor_spec_ptr_t	pinHolePtr (void)
virtual void	linkToSensorSpecific (sensor_ptr_t ptr)
	ObservationModelPinHoleAnchoredHomogeneousPoint (const sensor_ptr_t &pinholePtr)
virtual void	project_func (const vec7 &sg, const vec &lmk, vec &meas, vec &nobs)
	Projection function, with Jacobians and non-observable part.
virtual void	project_func (const vec7 &sg, const vec &lmk, vec &meas, vec &nobs, mat &EXP_sg, mat &EXP_lmk)
	Projection function, with Jacobians and non-observable part.
virtual void	backProject_func (const vec7 &sg, const vec &meas, const vec &nobs, vec &lmk)
	Retro-projection function, with Jacobians.
virtual void	backProject_func (const vec7 &sg, const vec &meas, const vec &nobs, vec &lmk, mat &LMK_sg, mat &LMK_meas, mat &LMK_nobs)
	Retro-projection function, with Jacobians.
virtual bool	predictVisibility_func (jblas::vec x, jblas::vec nobs)
	Predict visibility.
Protected Member Functions
void	init_sizes ()
Protected Attributes
sensor_spec_wptr_t	sensorSpecWPtr
size_t	exp_size
size_t	prior_size

Member Function Documentation

virtual bool jafar::rtslam::ObservationModelPinHoleAnchoredHomogeneousPoint::predictVisibility_func	(	jblas::vec	x,
		jblas::vec	nobs
	)		`[virtual]`

Predict visibility.

Visibility can only be established after project_func() has been called.

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