This MergeMapsStragegy decide to merge maps whenever two non consecutive maps have overlapping features. More...

Detailed Description

This MergeMapsStragegy decide to merge maps whenever two non consecutive maps have overlapping features.

Definition at line 52 of file MergeMapsStrategy.hpp.

Inheritance diagram for jafar::slammm::AlwaysMergeMapsStrategy:

Public Member Functions
	AlwaysMergeMapsStrategy (int minimalOverlapingFeaturesNumber)
virtual void	decideMergeMap (unsigned int currentMapId, slam::SlamEkf *currentMap)
	This function is called after processing observations to decide wether or not the maps should be merged.
Private Member Functions
void	getFeatureCov (slam::BaseFeature &baseFeature, jblas::vec &point, jblas::sym_mat &cov)
void	getFeatureSegCov (slam::BaseFeature &baseFeature, jblas::vec &line, jblas::sym_mat &cov)
Private Attributes
unsigned int	m_minimalOverlapingFeaturesNumber

Constructor & Destructor Documentation

jafar::slammm::AlwaysMergeMapsStrategy::AlwaysMergeMapsStrategy ( int minimalOverlapingFeaturesNumber )

Parameters:

minimalOverlapingFeaturesNumber the minimal number of features needed to consider that two maps overlap and should be merged.

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