Detailed Description

Definition at line 19 of file observation.hpp.

Inheritance diagram for jafar::slam::Observation:

Public Types
enum	ObservationType { POINT_CARTESIAN, POINT_POLAR, POINT_STEREOIMAGE, POINT_BEARING, POINT_IMAGE, POINT_OMNIIMAGE, SEGMENT_IMAGE, SEGMENTAP_IMAGE, SEGMENTID_IMAGE, SEGMENTID_EXT_IMAGE, SEGMENT_STEREOIMAGE, BASIS, ROBOT }
Public Member Functions
	Observation (ObservationType type_, unsigned int robotId_=0)
	Observation (Observation const &obs)
std::size_t	size () const
void	set (unsigned int id_, const jblas::vec &z_, unsigned int sensorId_=0)
void	set (unsigned int id_, const jblas::vec &z_, unsigned int sensorId_, unsigned int robotId_)
Static Public Member Functions
static std::size_t	observationSize (ObservationType ot)
Public Attributes
ObservationType	type
int	sensorId
	The id of the sensor (it's a unique number associated to an unique sensor, it's up to the user to choose the numbers)
unsigned int	id
	Feature Id.
jblas::vec	z
	Observation vector.
unsigned int	robotId
	Id of the robot which made an observation.

Member Enumeration Documentation

Enumerator:

POINT_CARTESIAN	sizeless point observation in the robot cartesian frame
POINT_POLAR	sizeless point observation in the robot polar frame
POINT_STEREOIMAGE	sizeless point observation from a stereoimage pair
POINT_BEARING	sizeless point partial observation in the robot polar frame
POINT_IMAGE	sizeless point partial observation in the image plane
POINT_OMNIIMAGE	sizeless point partial observation in the omnidirectional image plane
SEGMENT_IMAGE	parameters of the supporting of a segment extracted from an image
SEGMENTAP_IMAGE	parameters of the supporting of a anchor segment extracted from an image
SEGMENTID_IMAGE	parameters of the supporting of an inv depth segment extracted from an image
SEGMENTID_EXT_IMAGE	extremeties of a segment (in inverse depth)
SEGMENT_STEREOIMAGE	parameters of the supporting of a segment extracted from stereoimage pair
BASIS	observation of a basis (including a position vector and three euler angles)
ROBOT	observation of an other robot

Definition at line 23 of file observation.hpp.

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