jafar::slam::BearingPointInfFeatureObserveModel Class Reference

Point at infinity bearing-only observe model. More...

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Detailed Description

Point at infinity bearing-only observe model.

Definition at line 44 of file pointInfFeature.hpp.

#include <pointInfFeature.hpp>

Inheritance diagram for jafar::slam::BearingPointInfFeatureObserveModel:

List of all members.

Public Member Functions
	BearingPointInfFeatureObserveModel (PointInfFeatureModel &featureModel_)
Observation::ObservationType	typeObs () const
jblas::vec const &	computeInnovation (jblas::vec const &z_, jblas::vec const &zPred_)
	By default, simply do the substraction.
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().
jblas::vec	inverseObservationInSensorFrame (Observation const &obs_)
void	inverseObservationInSensorFrameJac (Observation const &obs_)
	jacobian of inverseObservationInSensorFrame()
double	computeBaselineInSensorFrame (jblas::vec_range const &deltaPose, Observation const &obsRef) const
	Computes the baseline in the sensor frame.

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Member Function Documentation

double jafar::slam::BearingPointInfFeatureObserveModel::computeBaselineInSensorFrame	(	jblas::vec_range const &	deltaPose,
		Observation const &	obsRef
	)		const [protected, virtual]

Computes the baseline in the sensor frame.

See also:

computeBaseline()

Implements jafar::slam::InfFeatureObserveModel.

jblas::vec const& jafar::slam::BearingPointInfFeatureObserveModel::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

Reimplemented from jafar::filter::BlockObserveModel.

jblas::vec jafar::slam::BearingPointInfFeatureObserveModel::inverseObservationInSensorFrame

(

Observation const &

obs_

)

[protected, virtual]

inverse observation function in sensor frame, to be defined by user.

Implements jafar::slam::FeatureObserveModel.

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

• modules/slam/include/slam/pointInfFeature.hpp