jafar::slam::AbstractMapObject Class Reference

class Abstract Map Object More...

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Detailed Description

class Abstract Map Object

Definition at line 19 of file abstractMapObject.hpp.

#include <abstractMapObject.hpp>

Inheritance diagram for jafar::slam::AbstractMapObject:

List of all members.

Public Member Functions
	AbstractMapObject (unsigned int id)
	Constructor.
virtual	~AbstractMapObject ()
	Destructor.
unsigned int	id () const
	Get object identifier.
std::size_t	filterIndex () const
	Get filter index.
jblas::vec_range &	getX ()
	Get object state vector.
jblas::vec_range const &	getX () const
	Get object state vector.
jblas::sym_mat_range &	getP ()
	Get object covariances matix.
jblas::sym_mat_range const &	getP () const
	Get object covariances matix.
virtual std::size_t	sizeState () const =0
	Object's state size.
virtual void	setState (jblas::vec &x_, jblas::sym_mat &P_)
	Set object's state vector and covariance.
Protected Attributes
unsigned int	m_id
	Object's ID.
std::size_t	m_filterIndex
	Filter index.
Private Attributes
jblas::vec_range *	m_x
jblas::sym_mat_range *	m_P
Friends
class	DefaultMapManager
class	LocalMapManager
class	GlobalMapManager
class	StrongMapManager

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Member Function Documentation

std::size_t jafar::slam::AbstractMapObject::filterIndex

(

)

const [inline]

Get filter index.

Returns:

the filter index

Definition at line 34 of file abstractMapObject.hpp.

References m_filterIndex.

Referenced by jafar::slam::PoseCopy::setState().

jblas::sym_mat_range& jafar::slam::AbstractMapObject::getP

(

)

[inline]

Get object covariances matix.

Returns:

the object's covariances matrix

Definition at line 46 of file abstractMapObject.hpp.

jblas::sym_mat_range const& jafar::slam::AbstractMapObject::getP

(

)

const [inline]

Get object covariances matix.

Returns:

the object's covariances matrix

Definition at line 50 of file abstractMapObject.hpp.

jblas::vec_range& jafar::slam::AbstractMapObject::getX

(

)

[inline]

Get object state vector.

Returns:

the object's state vector

Definition at line 38 of file abstractMapObject.hpp.

jblas::vec_range const& jafar::slam::AbstractMapObject::getX

(

)

const [inline]

Get object state vector.

Returns:

the object's state vector

Definition at line 42 of file abstractMapObject.hpp.

unsigned int jafar::slam::AbstractMapObject::id

(

)

const [inline]

Get object identifier.

Returns:

the object identifier

Reimplemented in jafar::slam::PoseCopy.

Definition at line 30 of file abstractMapObject.hpp.

References m_id.

virtual void jafar::slam::AbstractMapObject::setState	(	jblas::vec &	x_,
		jblas::sym_mat &	P_
	)		[virtual]

Set object's state vector and covariance.

Parameters:

x_	state vector
P_	covariances matrix

Reimplemented in jafar::slam::SegmentFeature, jafar::slam::SegmentAnchorFeature, jafar::slam::SegmentIDFeature, and jafar::slam::PoseCopy.

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

• modules/slam/include/slam/abstractMapObject.hpp