jafar::slam::SegAnchorPluckerFeatureModel Class Reference

3D segments using anchored plucker parametrisation. More...

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Detailed Description

3D segments using anchored plucker parametrisation.

The first three parameters are the position of the camera. The next three parameters the normal to the plane and the last three are the direction of the segment (In total 9).

Definition at line 112 of file segmentAnchorPluckerFeature.hpp.

#include <segmentAnchorPluckerFeature.hpp>

Inheritance diagram for jafar::slam::SegAnchorPluckerFeatureModel:

List of all members.

Public Member Functions
void	toFrame (jblas::vec const &frame_, jblas::vec const &x_, jblas::vec &xRes)
	Computes the feature state x in frame_ , the result is stored in xRes.
void	toFrameJac (const jblas::vec &frame_, const jblas::vec &x_)
	Computes the jacobian of toFrame().
void	fromFrame (jblas::vec const &frame_, jblas::vec const &x_, jblas::vec &xRes)
	Computes the feature state x expressed in frame_ in the frame of reference, the result is stored in xRes.
void	fromFrame (jblas::vec const &frame_, jblas::vec const &x_, jblas::vec_range &xRes)
void	fromFrameJac (const jblas::vec &frame_, const jblas::vec &x_)
	Computes the jacobian of fromFrame().
void	computePlucker (jblas::vec const &x, jblas::vec &L)
	remove the anchor
void	computePluckerJac (jblas::vec const &x)
void	computePluckerJac (jblas::vec const &x, jblas::vec &L, jblas::mat &L_al)
void	computeMergeState (const jblas::vec &x_, jblas::vec &mergeX_, jblas::mat &jac)
	Function to apply contraints over features (this function is only implemented for segment features)
void	computeAnchorPlucker (jblas::vec const &L, jblas::vec const &x0, jblas::vec &aL)
	add the anchor
void	computeAnchorPluckerJac (jblas::vec const &L, jblas::vec const &x0, jblas::vec &aL, jblas::mat &AL_l, jblas::mat &AL_x0)
Public Attributes
jblas::mat	JunanchorPl

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Member Function Documentation

void jafar::slam::SegAnchorPluckerFeatureModel::fromFrame	(	jblas::vec const &	frame_,
		jblas::vec const &	x_,
		jblas::vec_range &	xRes
	)		[virtual]

See also:

fromFrame(jblas::vec const&, jblas::vec const&, jblas::vec&)

Implements jafar::slam::FeatureModel.

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

• modules/slam/include/slam/segmentAnchorPluckerFeature.hpp