sizeless point bearing-only observe model. More...

Detailed Description

sizeless point bearing-only observe model.

Definition at line 117 of file pointFeature.hpp.

Inheritance diagram for jafar::slam::BearingPointFeatureObserveModel:

Public Member Functions
	BearingPointFeatureObserveModel (PointFeatureModel &featureModel_, double alpha_=0.2, double kSigma_=1.0)
jblas::vec const &	computeInnovation (jblas::vec const &z_, jblas::vec const &zPred_)
	By default, simply do the substraction.
Observation::ObservationType	typeObs () const
virtual void	initStateInSensorFrame (InitFeature &feature_, Observation const &obs_, double dMin_, double dMax_)
Public Attributes
double	alpha
	sigma/mean ratio
double	beta
	geometric serie base
Protected Member Functions
jblas::vec const &	predictObservationInSensorFrame (const jblas::vec &feature_)
	Prediction of the observation, the feature is expressed in the sensor frame featureInSensorFrame_.
void	predictObservationInSensorFrameJac (const jblas::vec &feature_)
	Jacobian of predictObservationInSensorFrame().
bool	doUpdateInitStateInSensorFrame (jblas::vec const &closestMemberState, Observation const &obsRef)

Member Function Documentation

jblas::vec const& jafar::slam::BearingPointFeatureObserveModel::computeInnovation	(	jblas::vec const &	y_,
		jblas::vec const &	zPred_
	)		`[virtual]`

By default, simply do the substraction.

Reimplementation of that function are allowed to adjust the values of Jobs1 and Jobs2.

Parameters:

y_	observation
zPred_	prediction

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