Jafar
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Sizeless 3D point using the inverse-depth parametrisation, bearings-only sensor. More...
Sizeless 3D point using the inverse-depth parametrisation, bearings-only sensor.
Definition at line 51 of file pointInvDepthFeature.hpp.
#include <pointInvDepthFeature.hpp>
Public Member Functions | |
BearingPointInvDepthFeatureObserveModel (PointInvDepthFeatureModel &featureModel_) | |
Observation::ObservationType | typeObs () const |
void | postInitCovariance (jblas::sym_mat_range &P, jblas::mat const &Jframe) |
void | setup (double id0=0.5, double sigmaId0=0.25) |
setup noise parameters | |
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 const & | computeInnovation (jblas::vec const &z_, jblas::vec const &zPred_) |
By default, simply do the substraction. | |
jblas::vec | inverseObservationInSensorFrame (Observation const &obs_) |
void | inverseObservationInSensorFrameJac (Observation const &obs_) |
jacobian of inverseObservationInSensorFrame() | |
Protected Attributes | |
double | m_id0 |
see id0 in BearingPointInvDepthFeatureObserveModel::setup(double,double) | |
double | m_sigmaId0 |
see sigmaId0 in BearingPointInvDepthFeatureObserveModel::setup(double,double) | |
PointInvDepthFeatureModel & | pointInvDepthFeatureModel |
jblas::vec const& jafar::slam::BearingPointInvDepthFeatureObserveModel::computeInnovation | ( | jblas::vec const & | y_, |
jblas::vec const & | zPred_ | ||
) | [protected, virtual] |
By default, simply do the substraction.
Reimplementation of that function are allowed to adjust the values of Jobs1 and Jobs2.
y_ | observation |
zPred_ | prediction |
Reimplemented from jafar::filter::BlockObserveModel.
jblas::vec jafar::slam::BearingPointInvDepthFeatureObserveModel::inverseObservationInSensorFrame | ( | Observation const & | obs_ | ) | [protected, virtual] |
inverse observation function in sensor frame, to be defined by user.
Implements jafar::slam::FeatureObserveModel.
void jafar::slam::BearingPointInvDepthFeatureObserveModel::setup | ( | double | id0 = 0.5 , |
double | sigmaId0 = 0.25 |
||
) |
setup noise parameters
id0 | initial inverse depth |
sigmaId0 | standard deviation on initial inverse depth |
Generated on Wed Oct 15 2014 00:37:49 for Jafar by doxygen 1.7.6.1 |