sizeless point polar observe model. More...

Detailed Description

sizeless point polar observe model.

Definition at line 76 of file pointFeature.hpp.

Inheritance diagram for jafar::slam::PolarPointFeatureObserveModel:

Public Member Functions
	PolarPointFeatureObserveModel (PointFeatureModel &featureModel_)
Observation::ObservationType	typeObs () const
void	setNoiseValues (double rhoUnitStdDev_, double thetaStdDev_, double phiStdDev_)
void	computeSensorR (Observation const &obs)
	Compute observation noise from sensor.
Protected Member Functions
jblas::vec const &	predictObservationInSensorFrame (const jblas::vec &feature_)
	Prediction of the observation, the feature is expressed in the sensor frame featureInSensorFrame_.
void	predictObservationInSensorFrameJac (const jblas::vec &feature_)
	Jacobian of predictObservationInSensorFrame().
jblas::vec const &	computeInnovation (jblas::vec const &z_, jblas::vec const &zPred_)
	By default, simply do the substraction.
jblas::vec	inverseObservationInSensorFrame (Observation const &obs_)
void	inverseObservationInSensorFrameJac (Observation const &obs_)
	jacobian of inverseObservationInSensorFrame()
Protected Attributes
double	rhoUnitStdDev
	standard deviation on rho, per meter

Member Function Documentation

jblas::vec const& jafar::slam::PolarPointFeatureObserveModel::computeInnovation	(	jblas::vec const &	y_,
		jblas::vec const &	zPred_
	)		`[protected, virtual]`

By default, simply do the substraction.

Reimplementation of that function are allowed to adjust the values of Jobs1 and Jobs2.

Parameters:

y_	observation
zPred_	prediction

void jafar::slam::PolarPointFeatureObserveModel::computeSensorR ( Observation const & obs ) [virtual]

Compute observation noise from sensor.

A default implementation is provided, it does nothing (constant model).

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

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

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