A feature at infinity observe model. More...

Detailed Description

A feature at infinity observe model.

This kind of feature has the same properties as a FeatureObserveModel.

Definition at line 212 of file bearingOnlyFeature.hpp.

Inheritance diagram for jafar::slam::InfFeatureObserveModel:

Public Member Functions
	InfFeatureObserveModel (FeatureModel &model, std::size_t sizeObs_)
void	setBaselineTh (double baselineTh)
double	getBaselineTh () const
double	computeBaseline (jblas::vec const &poseRef, Observation const &obsRef, jblas::vec_range const &poseCur) const
	Computes the baseline which is gained between a reference (pose, observation) and a given pose.
Protected Member Functions
virtual double	computeBaselineInSensorFrame (jblas::vec_range const &deltaPose, Observation const &obsRef) const =0
	Computes the baseline in the sensor frame.
Private Attributes
double	m_baselineTh

Member Function Documentation

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

Computes the baseline in the sensor frame.

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