Fully observable feature observe model. More...

Detailed Description

Fully observable feature observe model.

It takes into accout sensor frame in inverse observation model.

Definition at line 251 of file featureModel.hpp.

Inheritance diagram for jafar::slam::FeatureObserveModel:

Public Member Functions
	FeatureObserveModel (FeatureModel &model, std::size_t sizeObs_)
	FeatureObserveModel (FeatureModel &model, std::size_t sizeObs_, std::size_t sizeObsInit_)
	FeatureObserveModel (FeatureModel &model, std::size_t sizeObs_, std::size_t sizeObsInit_, std::size_t sizeInnovation_, std::size_t sizePrediction_)
jblas::vec	inverseObservation (Observation const &obs_)
	Takes into accout sensor frame and delegate initialisation in sensor frame to inverseObservationInSensorFrame()
void	inverseObservationJac (Observation const &obs_)
virtual void	postInitCovariance (jblas::sym_mat_range &P, jblas::mat const &Jfeature)
Public Attributes
jblas::mat	JinvObs
	Jacobian of the inverse observe function.
Protected Member Functions
virtual jblas::vec	inverseObservationInSensorFrame (Observation const &obs_)=0
virtual void	inverseObservationInSensorFrameJac (Observation const &obs_)=0
	jacobian of inverseObservationInSensorFrame()

Member Function Documentation

virtual jblas::vec jafar::slam::FeatureObserveModel::inverseObservationInSensorFrame ( Observation const & obs_ ) [protected, pure virtual]

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

Jacobian of the inverse observe function.

Warning:: do not forget to call inverseObservationJacobian() before using JinvObs

Definition at line 260 of file featureModel.hpp.

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