jafar::slam::BasisFeatureModel Class Reference

A basis features includes the X,Y,Z coordinates of the origin, plus the raw, yaw and pitch angles. More...

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Detailed Description

A basis features includes the X,Y,Z coordinates of the origin, plus the raw, yaw and pitch angles.

Definition at line 13 of file basisFeature.hpp.

#include <basisFeature.hpp>

Inheritance diagram for jafar::slam::BasisFeatureModel:

List of all members.

Public Member Functions
void	toFrame (jblas::vec const &frame_, jblas::vec const &x_, jblas::vec &xRes)
	Computes the feature state x in frame_ , the result is stored in xRes.
void	toFrameJac (const jblas::vec &frame_, const jblas::vec &x_)
	Computes the jacobian of toFrame().
void	fromFrame (jblas::vec const &frame_, jblas::vec const &x_, jblas::vec &xRes)
	Computes the feature state x expressed in frame_ in the frame of reference, the result is stored in xRes.
void	fromFrame (jblas::vec const &frame_, jblas::vec const &x_, jblas::vec_range &xRes)
void	fromFrameJac (const jblas::vec &frame_, const jblas::vec &x_)
	Computes the jacobian of fromFrame().
void	computeMergeState (const jblas::vec &x_, jblas::vec &mergeX_, jblas::mat &jac)
	Function to apply contraints over features (this function is only implemented for segment features)

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Member Function Documentation

void jafar::slam::BasisFeatureModel::fromFrame	(	jblas::vec const &	frame_,
		jblas::vec const &	x_,
		jblas::vec_range &	xRes
	)		[virtual]

See also:

fromFrame(jblas::vec const&, jblas::vec const&, jblas::vec&)

Implements jafar::slam::FeatureModel.

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

• modules/slam/include/slam/basisFeature.hpp