srba::rba_joint_parameterization_traits_t< kf2kf_pose_t, landmark_t, obs_t >::new_kf_observation_t Struct Reference

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Detailed Description

template<class kf2kf_pose_t, class landmark_t, class obs_t>
struct srba::rba_joint_parameterization_traits_t< kf2kf_pose_t, landmark_t, obs_t >::new_kf_observation_t

Observations, as provided by the user. The following combinations are possible:

  +-----------+---------------------------------------------+---------------------------------+
  |                  DATA FIELDS                            |                                 |
  +-----------+-------------------------+-------------------+       RESULTING OBSERVATION     |
  | is_fixed  | is_unknown_with_init_val|      feat_rel_pos      |                                 |
  +-----------+-------------------------+-------------------+---------------------------------+
  |           |                         |                   | First observation of a landmark |
  |   true    |     ( IGNORED )         | Landmark position |  with a fixed (known) relative  |
  |           |                         |                   |    position wrt this keyframe   |
  +-----------+-------------------------+-------------------+---------------------------------+
  |           |                         |                   | First observation of a landmark |
  |   false   |         true            | Landmark position |  with unknown relative position |
  |           |                         |                   | whose guess is given in feat_rel_pos |
  +-----------+-------------------------+-------------------+---------------------------------+
  |           |                         |                   | Either:                         |
  |           |                         |                   |  * First observation of a LM    |
  |   false   |        false            |     (IGNORED)     | with unknown relative pos.      |
  |           |                         |                   | In this case we'll call  sensor_model<>::inverse_sensor_model()
  |           |                         |                   |  * Subsequent observations of   |
  |           |                         |                   | any fixed or unknown LM.        |
  +-----------+-------------------------+-------------------+---------------------------------+

Definition at line 473 of file srba_types.h.

#include <srba_types.h>

List of all members.

Public Member Functions
	new_kf_observation_t ()
template<class REL_POS >
void	setRelPos (const REL_POS &pos)
Public Attributes
obs_traits_t::observation_t	obs
bool	is_fixed
bool	is_unknown_with_init_val
lm_traits_t::array_landmark_t	feat_rel_pos
	Ignored unless is_fixed OR is_unknown_with_init_val are true (only one of them at once).

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Constructor & Destructor Documentation

template<class kf2kf_pose_t, class landmark_t, class obs_t>

srba::rba_joint_parameterization_traits_t< kf2kf_pose_t, landmark_t, obs_t >::new_kf_observation_t::new_kf_observation_t

(

)

[inline]

Default ctor

Definition at line 476 of file srba_types.h.

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Member Function Documentation

template<class kf2kf_pose_t, class landmark_t, class obs_t>

template<class REL_POS >

void srba::rba_joint_parameterization_traits_t< kf2kf_pose_t, landmark_t, obs_t >::new_kf_observation_t::setRelPos

(

const REL_POS &

pos

)

[inline]

Sets feat_rel_pos from any object that offers a [] operator and has the expected length "landmark_t::LM_DIMS"

Definition at line 492 of file srba_types.h.

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Member Data Documentation

template<class kf2kf_pose_t, class landmark_t, class obs_t>

bool srba::rba_joint_parameterization_traits_t< kf2kf_pose_t, landmark_t, obs_t >::new_kf_observation_t::is_fixed

If true, feat_rel_pos has the fixed relative position of this landmark (Can be set to true only upon the FIRST observation of a fixed landmark)

Definition at line 482 of file srba_types.h.

template<class kf2kf_pose_t, class landmark_t, class obs_t>

bool srba::rba_joint_parameterization_traits_t< kf2kf_pose_t, landmark_t, obs_t >::new_kf_observation_t::is_unknown_with_init_val

Can be set to true only upon FIRST observation of a landmark with UNKNOWN relative position (the normal case). If set to true, feat_rel_pos has the fixed relative position of this landmark.

Definition at line 487 of file srba_types.h.

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

• srba/srba_types.h