Jafar: jafar::slam::InitFeature Class Reference

A generic bearing only feature. More...

Detailed Description

A generic bearing only feature.

Definition at line 90 of file bearingOnlyFeature.hpp.

Public Types
typedef std::map< unsigned int, Observation * >	InitObsType
typedef std::list < InitStateMember * >	InitStateType
	the initial state is a sum of gaussians
Public Member Functions
	InitFeature (unsigned int id, unsigned int robotId, std::size_t sizeRobotPose)
unsigned int	id () const
unsigned int	robotId () const
unsigned int	getRefFrameIndex () const
Observation const &	getRefObservation () const
void	addInitObservation (unsigned int frameIndex, jblas::vec_range const &refPose, Observation *obs)
void	removeInitObservation (unsigned int frameIndex)
bool	hasInitObservation (unsigned int frameIndex) const
InitStateMember const &	getBestInitStateMember () const
void	clearInit ()
void	clearInitStateZPred ()
void	normalizeInitState ()
Public Attributes
BaseFeature::FrameIndexesType	frameIndexes
InitObsType	initObs
jblas::vec	previousInitPose
jblas::vec	deltaPose
jblas::sym_mat	deltaPoseCov
InitStateType	initState
double	baselineMax
Protected Member Functions
virtual void	writeLogHeader (jafar::kernel::DataLogger &log) const
virtual void	writeLogData (jafar::kernel::DataLogger &log) const
Private Attributes
unsigned int	m_id
unsigned int	m_robotId

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