srba::hessian_traits< kf2kf_pose_t, LANDMARK_TYPE, obs_t > Struct Template Reference

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Detailed Description

template<class kf2kf_pose_t, class LANDMARK_TYPE, class obs_t>
struct srba::hessian_traits< kf2kf_pose_t, LANDMARK_TYPE, obs_t >

Types for the Hessian blocks:

       [  H_Ap    |  H_Apf  ]
   H = [ ---------+-------- ]
       [  H_Apf^t |   Hf    ]

Definition at line 412 of file srba_types.h.

#include <srba_types.h>

List of all members.

Public Types
typedef THessianSymbolicInfo < double, OBS_DIMS, REL_POSE_DIMS, REL_POSE_DIMS >	hessian_Ap_info_t
typedef THessianSymbolicInfo < double, OBS_DIMS, LM_DIMS, LM_DIMS >	hessian_f_info_t
typedef THessianSymbolicInfo < double, OBS_DIMS, REL_POSE_DIMS, LM_DIMS >	hessian_Apf_info_t
typedef SparseBlockMatrix < double, REL_POSE_DIMS, REL_POSE_DIMS, hessian_Ap_info_t, false >	TSparseBlocksHessian_Ap
typedef SparseBlockMatrix < double, LM_DIMS, LM_DIMS, hessian_f_info_t, false >	TSparseBlocksHessian_f
typedef SparseBlockMatrix < double, REL_POSE_DIMS, LM_DIMS, hessian_Apf_info_t, false >	TSparseBlocksHessian_Apf
typedef mrpt::utils::map_as_vector < TLandmarkID, typename TSparseBlocksHessian_f::matrix_t, typename mrpt::aligned_containers < std::pair< TLandmarkID, typename TSparseBlocksHessian_f::matrix_t > >::deque_t >	landmarks2infmatrix_t
Static Public Attributes
static const size_t	OBS_DIMS = obs_t::OBS_DIMS
static const size_t	REL_POSE_DIMS = kf2kf_pose_t::REL_POSE_DIMS
static const size_t	LM_DIMS = LANDMARK_TYPE::LM_DIMS

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Member Typedef Documentation

template<class kf2kf_pose_t, class LANDMARK_TYPE, class obs_t>

typedef mrpt::utils::map_as_vector< TLandmarkID, typename TSparseBlocksHessian_f::matrix_t, typename mrpt::aligned_containers<std::pair<TLandmarkID,typename TSparseBlocksHessian_f::matrix_t > >::deque_t> srba::hessian_traits< kf2kf_pose_t, LANDMARK_TYPE, obs_t >::landmarks2infmatrix_t

The list with all the information matrices (estimation uncertainty) for each unknown landmark.

Definition at line 431 of file srba_types.h.

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

• srba/srba_types.h