jafar::slam::BaseFeature Class Reference

Generic feature. More...

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Detailed Description

Generic feature.

Definition at line 31 of file feature.hpp.

#include <feature.hpp>

Inheritance diagram for jafar::slam::BaseFeature:

List of all members.

Public Types
typedef std::list< unsigned int >	FrameIndexesType
	Indexes of frames where the feature has been observed (in chronological order).
typedef std::list < jafar::filter::JacobianStrongConstraintModel * >	ConstraintsListType
Public Member Functions
	BaseFeature (unsigned int id, FeatureModel &model, std::size_t sizeObs, Observation::ObservationType typeObs_)
std::size_t	sizeState () const
	Object's state size.
void	addObservation (unsigned int frameIndex_)
Public Attributes
Observation::ObservationType	typeObs
bool	atInfinity
FrameIndexesType	frameIndexes
FeatureModel &	model
ConstraintsListType	constraints
	list of constraints to be applied on the feature state vector
jafar::jmath::GaussianVector	zPred
	Prediction of observation.
jafar::filter::JacobianBlockPredictModel *	featureConstraintModel
	Model to apply the contraints over features (this model is only implemented for segment features)
Protected Member Functions
virtual void	writeLogHeader (jafar::kernel::DataLogger &log) const
	Implements this method calling repeatidly log methods.
virtual void	addMembersToLog (jafar::kernel::DataLogger &log) const
	Once the loggable has been added, this method is called so that the loggable can add some of its members to the log.
virtual void	writeLogData (jafar::kernel::DataLogger &log) const
	Implements this method calling repeatidly log methods.
Private Attributes
jblas::vec_range *	m_x
jblas::sym_mat_range *	m_P
Friends
std::ostream &	operator<< (std::ostream &s, const BaseFeature &f_)

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Member Function Documentation

virtual void jafar::slam::BaseFeature::addMembersToLog

(

jafar::kernel::DataLogger &

log

)

const [protected, virtual]

Once the loggable has been added, this method is called so that the loggable can add some of its members to the log.

Implements this method calling addLoggable(). By default this method is empty.

Reimplemented from jafar::kernel::DataLoggable.

virtual void jafar::slam::BaseFeature::writeLogData

(

jafar::kernel::DataLogger &

log

)

const [protected, virtual]

Implements this method calling repeatidly log methods.

You should use writeData() or writeDataVector().

Implements jafar::kernel::DataLoggable.

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

virtual void jafar::slam::BaseFeature::writeLogHeader

(

jafar::kernel::DataLogger &

log

)

const [protected, virtual]

Implements this method calling repeatidly log methods.

You should use writeComment(), writeLegend() or writeLegendTokens().

Implements jafar::kernel::DataLoggable.

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

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Member Data Documentation

jafar::jmath::GaussianVector jafar::slam::BaseFeature::zPred

Prediction of observation.

Filled by SlamEkf::observeKnownFeature.

Definition at line 54 of file feature.hpp.

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

• modules/slam/include/slam/feature.hpp