SRBA: Sparser Relative Bundle Adjustment
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Public Types | Static Public Member Functions | Static Public Attributes
srba::landmarks::RelativePoses2D Struct Reference

Detailed Description

A parameterization of SE(2) relative poses ("fake landmarks" to emulate graph-SLAM)

Definition at line 94 of file landmarks.h.

#include <landmarks.h>

List of all members.

Public Types

typedef
srba::landmark_rendering_as_pose_constraints 
render_mode_t

Static Public Member Functions

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.
static const
landmark_jacob_family_t 
jacob_family = jacob_relpose_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::RelativePoses2D::composePosePoint ( VECTOR &  pt,
const POSE &  pose 
) [inline, static]

Evaluates pt = pose (+) pt

Parameters:
[in,out]ptA vector with the landmark parameterization values
[in]poseThe relative pose

Definition at line 105 of file landmarks.h.

template<class POSE , class VECTOR >
static void srba::landmarks::RelativePoses2D::inverseComposePosePoint ( const VECTOR &  lm_global,
VECTOR &  lm_local,
const POSE &  pose 
) [inline, static]

Evaluates lm_local = lm_global (-) pose

Parameters:
[in]lm_globalA vector with the landmark parameterization values in "global" coordinates
[out]lm_localA vector with the landmark parameterization values in "local" coordinates, as seen from "pose"
[in]poseThe relative pose

Definition at line 115 of file landmarks.h.


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