Detailed Description

A parameterization of landmark positions in Euclidean coordinates (3D)

Definition at line 25 of file landmarks.h.

#include <landmarks.h>

Public Types
typedef srba::landmark_rendering_as_point	render_mode_t
Static Public Member Functions
template<class VECTOR >
static void	relativeEuclideanLocation (const VECTOR &posParams, mrpt::math::TPoint3D &posEuclidean)
template<class POSE , class VECTOR >
static void	composePosePoint (VECTOR &pt, const POSE &pose)
template<class POSE , class VECTOR >
static void	inverseComposePosePoint (const VECTOR &lm_global, VECTOR &lm_local, const POSE &pose)
Static Public Attributes
static const size_t	LM_DIMS = 3
	The number of parameters in each LM parameterization relative to its base KF: (x,y,z)
static const landmark_jacob_family_t	jacob_family = jacob_point_landmark
	Specify the kind of Jacobian to be used for compute_jacobian_dAepsDx_deps<>

Member Function Documentation

template<class POSE , class VECTOR >

static void srba::landmarks::Euclidean3D::composePosePoint	(	VECTOR &	pt,
		const POSE &	pose
	)		`[inline, static]`

Evaluates pt = pose (+) pt

Parameters:

[in,out]	pt	A vector with the landmark parameterization values
[in]	pose	The relative pose

Definition at line 44 of file landmarks.h.

template<class POSE , class VECTOR >

static void srba::landmarks::Euclidean3D::inverseComposePosePoint	(	const VECTOR &	lm_global,
		VECTOR &	lm_local,
		const POSE &	pose
	)		`[inline, static]`

Evaluates lm_local = lm_global (-) pose

Parameters:

[in]	lm_global	A vector with the landmark parameterization values in "global" coordinates
[out]	lm_local	A vector with the landmark parameterization values in "local" coordinates, as seen from "pose"
[in]	pose	The relative pose

Definition at line 52 of file landmarks.h.

template<class VECTOR >

static void srba::landmarks::Euclidean3D::relativeEuclideanLocation	(	const VECTOR &	posParams,
		mrpt::math::TPoint3D &	posEuclidean
	)		`[inline, static]`

Converts the landmark parameterization into 3D Eucliden coordinates (used for OpenGL rendering, etc.)

Definition at line 33 of file landmarks.h.

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