srba::TJacobianSymbolicInfo_dh_dAp< kf2kf_pose_t, LANDMARK_TYPE > Struct Template Reference

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Detailed Description

template<class kf2kf_pose_t, class LANDMARK_TYPE>
struct srba::TJacobianSymbolicInfo_dh_dAp< kf2kf_pose_t, LANDMARK_TYPE >

Symbolic information of each Jacobian dh_dAp

Definition at line 205 of file srba_types.h.

#include <srba_types.h>

List of all members.

Public Types
typedef kf2kf_pose_traits < kf2kf_pose_t >	kf2kf_traits_t
typedef landmark_traits < LANDMARK_TYPE >	lm_traits_t
Public Attributes
const kf2kf_traits_t::pose_flag_t *	rel_pose_d1_from_obs
const kf2kf_traits_t::pose_flag_t *	rel_pose_base_from_d1
bool	edge_normal_dir
const lm_traits_t::TRelativeLandmarkPos *	feat_rel_pos
TKeyFrameID	kf_d
TKeyFrameID	kf_base
	The ID of the base keyframe of the observed feature.
size_t	k2k_edge_id
	The ID (0-based index in k2k_edges) of the edge wrt we are taking derivatives.
size_t	obs_idx
	The global index of the observation that generates this Jacobian.
char *	is_valid
	A reference to the validity bit in the global list TRBA_Problem_state::all_observations_Jacob_validity.

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Member Data Documentation

template<class kf2kf_pose_t , class LANDMARK_TYPE >

bool srba::TJacobianSymbolicInfo_dh_dAp< kf2kf_pose_t, LANDMARK_TYPE >::edge_normal_dir

If true, the edge direction points in the "canonical" direction: from "d" towards the direction of "obs" If false, this fact should be taking into account while computing the derivatives...

Definition at line 216 of file srba_types.h.

template<class kf2kf_pose_t , class LANDMARK_TYPE >

const lm_traits_t::TRelativeLandmarkPos* srba::TJacobianSymbolicInfo_dh_dAp< kf2kf_pose_t, LANDMARK_TYPE >::feat_rel_pos

Pointer to the relative feature position wrt its base KF

Definition at line 219 of file srba_types.h.

template<class kf2kf_pose_t , class LANDMARK_TYPE >

TKeyFrameID srba::TJacobianSymbolicInfo_dh_dAp< kf2kf_pose_t, LANDMARK_TYPE >::kf_d

The ID of the keyframe *before* the edge wrt which we are taking derivatives (before if going backwards from the observer KF towards the base KF of the feature). "d+1" in paper figures

Definition at line 223 of file srba_types.h.

template<class kf2kf_pose_t , class LANDMARK_TYPE >

const kf2kf_traits_t::pose_flag_t* srba::TJacobianSymbolicInfo_dh_dAp< kf2kf_pose_t, LANDMARK_TYPE >::rel_pose_d1_from_obs

The two relative poses used in this Jacobian (see papers) Pointers to the elements in the "numeric" part of the spanning tree ( TRBA_Problem_state::TSpanningTree )

Definition at line 212 of file srba_types.h.

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

• srba/srba_types.h