Detailed Description

A parameterization of SE(3) relative poses ("fake landmarks" to emulate graph-SLAM)

Definition at line 124 of file landmarks.h.

#include <landmarks.h>

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 = 6
	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::RelativePoses3D::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 135 of file landmarks.h.

template<class POSE , class VECTOR >

static void srba::landmarks::RelativePoses3D::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 145 of file landmarks.h.

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