jafar::rtslam::ObservationModelPinHoleEuclideanPoint Class Reference

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Detailed Description

Definition at line 23 of file observationPinHoleEuclideanPoint.hpp.

Inheritance diagram for jafar::rtslam::ObservationModelPinHoleEuclideanPoint:

List of all members.

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)
	ObservationModelPinHoleEuclideanPoint (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	project_func (const vec7 &sg, const vec &lmk, vec &meas, 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 &euc)
	Retro-projection function, with Jacobians.
virtual void	backProject_func (const vec7 &sg, const vec &meas, const vec &nobs, vec &euc, mat &EUC_sg, mat &EUC_meas, mat &EUC_nobs)
	Retro-projection function, with Jacobians.
virtual bool	predictVisibility_func (jblas::vec x, jblas::vec nobs)
	Predict visibility.
Static Public Member Functions
static void	backProject_func_func (const vec4 &k, const vec &c, const vec7 &sg, const vec &meas, const vec &nobs, vec &euc)
static void	backProject_func_func (const vec4 &k, const vec &c, const vec7 &sg, const vec &meas, const vec &nobs, vec &euc, mat &EUC_sg, mat &EUC_meas, mat &EUC_nobs)
Protected Member Functions
void	init_sizes ()
Protected Attributes
sensor_spec_wptr_t	sensorSpecWPtr
size_t	exp_size
size_t	prior_size

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Member Function Documentation

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

Predict visibility.

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

Returns:

true if landmark is predicted visible.

Implements jafar::rtslam::ObservationModelAbstract.

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

• modules/rtslam/include/rtslam/observationPinHoleEuclideanPoint.hpp