jafar::slam::SegmentIDFeature Class Reference

A segment inverse depth feature, with its extremities. More...

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Detailed Description

A segment inverse depth 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 26 of file segmentInvDepthFeature.hpp.

#include <segmentInvDepthFeature.hpp>

Inheritance diagram for jafar::slam::SegmentIDFeature:

List of all members.

Public Member Functions
	SegmentIDFeature (unsigned int id, FeatureModel &model, std::size_t sizeObs, Observation::ObservationType typeObs_)
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
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
SegInvDepthFeatureModel *	segidmodel
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 Plucker line.
void	computeExtCov (double s_, jblas::sym_mat &extCov) const
	Get 3D endpoint covariance given abscissa.

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Member Function Documentation

virtual void jafar::slam::SegmentIDFeature::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::SegmentIDFeature::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::SegmentIDFeature::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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The documentation for this class was generated from the following file:

• modules/slam/include/slam/segmentInvDepthFeature.hpp