jafar::slam::BearingPointInvDepthFeatureObserveModel Class Reference

Sizeless 3D point using the inverse-depth parametrisation, bearings-only sensor. More...

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Detailed Description

Sizeless 3D point using the inverse-depth parametrisation, bearings-only sensor.

Definition at line 51 of file pointInvDepthFeature.hpp.

#include <pointInvDepthFeature.hpp>

Inheritance diagram for jafar::slam::BearingPointInvDepthFeatureObserveModel:

List of all members.

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

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Member Function Documentation

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.

Parameters:

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

Parameters:

id0	initial inverse depth
sigmaId0	standard deviation on initial inverse depth

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

• modules/slam/include/slam/pointInvDepthFeature.hpp