jafar::slam::FeatureModel Class Reference

This class defines a generic feature model. More...

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Detailed Description

This class defines a generic feature model.

Definition at line 27 of file featureModel.hpp.

#include <featureModel.hpp>

Inheritance diagram for jafar::slam::FeatureModel:

List of all members.

Public Member Functions
	FeatureModel (std::size_t sizeRobotPose, std::size_t sizeState, std::size_t sizeMergeState)
std::size_t	sizeState ()
std::size_t	sizeRobotPose ()
std::size_t	sizeMergeState ()
virtual void	toFrame (const jblas::vec &frame_, const jblas::vec &x, jblas::vec &xRes)=0
	Computes the feature state x in frame_ , the result is stored in xRes.
virtual void	toFrameJac (jblas::vec const &frame_, jblas::vec const &x_)=0
	Computes the jacobian of toFrame().
virtual void	fromFrame (jblas::vec const &frame_, jblas::vec const &x_, jblas::vec &xRes)=0
	Computes the feature state x expressed in frame_ in the frame of reference, the result is stored in xRes.
virtual void	fromFrame (jblas::vec const &frame_, jblas::vec const &x_, jblas::vec_range &xRes)=0
virtual void	fromFrameJac (const jblas::vec &frame_, const jblas::vec &x_)=0
	Computes the jacobian of fromFrame().
virtual void	computeMergeState (const jblas::vec &x_, jblas::vec &mergeX_, jblas::mat &jac)=0
	Function to apply contraints over features (this function is only implemented for segment features)
Public Attributes
jblas::mat	Jx
	Jacobian of toFrame() and fromFrame() with respect to feature state.
jblas::mat	Jframe
	Jacobian of toframe() and fromFrame() with respect to transformation 3D.
Private Attributes
std::size_t	m_sizeMergeState

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Member Function Documentation

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

See also:

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

Implemented in jafar::slam::SegmentFeatureModel, jafar::slam::SegAnchorPluckerFeatureModel, jafar::slam::SegInvDepthFeatureModel, jafar::slam::PointInvDepthFeatureModel, jafar::slam::PointFeatureModel, jafar::slam::PointInfFeatureModel, and jafar::slam::BasisFeatureModel.

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Member Data Documentation

jblas::mat jafar::slam::FeatureModel::Jframe

Jacobian of toframe() and fromFrame() with respect to transformation 3D.

Warning:

do not forget to call toframJac() or fromFrameJac() before using Jframe

Definition at line 45 of file featureModel.hpp.

jblas::mat jafar::slam::FeatureModel::Jx

Jacobian of toFrame() and fromFrame() with respect to feature state.

Warning:

do not forget to call toframJac() or fromFrameJac() before using Jx

Definition at line 37 of file featureModel.hpp.

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

• modules/slam/include/slam/featureModel.hpp