jafar::slam::SegmentAnchorFeature Class Reference

A plucker segment anchored feature, with its extremities. More...

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Detailed Description

A plucker segment anchored feature, with its extremities.

The extremities are not represented in a stochastic way, they are expressed as the inverse-depth endpoint (note that are not neccesarly the supporting points of the line.

Definition at line 22 of file segmentAnchorPluckerFeature.hpp.

#include <segmentAnchorPluckerFeature.hpp>

Inheritance diagram for jafar::slam::SegmentAnchorFeature:

List of all members.

Public Member Functions
	SegmentAnchorFeature (unsigned int id, FeatureModel &model, std::size_t sizeObs, Observation::ObservationType typeObs_)
jblas::vec_range const &	x0 () const
jblas::vec_range &	x0 ()
jblas::vec_range const &	u () const
jblas::vec_range &	u ()
jblas::vec_range const &	n () const
jblas::vec_range &	n ()
void	setFlagEnlarge ()
virtual void	setState (jblas::vec &x_, jblas::sym_mat &P_)
	Set object's state vector and covariance.
jblas::vec3	getExt1 () const
jblas::sym_mat	getExt1Cov () const
jblas::vec3	getExt2 () const
jblas::sym_mat	getExt2Cov () const
jblas::mat	getExt1Jac () const
jblas::mat	getExt2Jac () const
Static Public Member Functions
static void	setConstraintAlpha (double alpha)
static double	getConstraintAlpha ()
static void	setConstraintMaxNbTimesApplied (int maxNbTimesApplied)
static int	getConstraintMaxNbTimesApplied ()
static void	setFlagPlucklerConstraint (bool pluckerConstraint)
Public Attributes
std::string	debugObs
double	s1
	coordinate of the first extremity
double	s2
	coordinate of the second extremity
bool	ENLARGE
	flag to enlarge extremites
SegAnchorPluckerFeatureModel *	segapmodel
	feature model
Protected Member Functions
virtual void	writeLogHeader (jafar::kernel::DataLogger &log) const
	Implements this method calling repeatidly log methods.
virtual void	writeLogData (jafar::kernel::DataLogger &log) const
	Implements this method calling repeatidly log methods.
Private Member Functions
void	computeExt (double s_, jblas::vec3 &ext) const
	Get 3D endpoint given abscissa.
void	computeExtJac (double s_, jblas::mat &J) const
	The Jacobian of computeExt() wrt the id line.
void	computeExtCov (double s_, jblas::sym_mat &extCov) const
	Get 3D endpoint covariance given abscissa.
Private Attributes
jblas::vec_range *	p_x0
	camera position when the segment is initialized.
jblas::vec_range *	p_n
	n=h.
jblas::vec_range *	p_u
	direction of the segment (unit vector).
Static Private Attributes
static double	p_constraintAlpha
static int	p_constraintMaxNbTimesApplied
static bool	ENABLE_PLUCKER_CONSTRAINT

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Member Function Documentation

virtual void jafar::slam::SegmentAnchorFeature::setState	(	jblas::vec &	x_,
		jblas::sym_mat &	P_
	)		[virtual]

Set object's state vector and covariance.

Parameters:

x_	state vector
P_	covariances matrix

Reimplemented from jafar::slam::AbstractMapObject.

virtual void jafar::slam::SegmentAnchorFeature::writeLogData

(

jafar::kernel::DataLogger &

log

)

const [protected, virtual]

Implements this method calling repeatidly log methods.

You should use writeData() or writeDataVector().

Reimplemented from jafar::slam::BaseFeature.

virtual void jafar::slam::SegmentAnchorFeature::writeLogHeader

(

jafar::kernel::DataLogger &

log

)

const [protected, virtual]

Implements this method calling repeatidly log methods.

You should use writeComment(), writeLegend() or writeLegendTokens().

Reimplemented from jafar::slam::BaseFeature.

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Member Data Documentation

jblas::vec_range* jafar::slam::SegmentAnchorFeature::p_n [private]

n=h.

|n| where h is distance to origin, and n is the normal to the plane containing the line and the origin

Definition at line 81 of file segmentAnchorPluckerFeature.hpp.

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

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