srba_types.h File Reference

#include <mrpt/math/lightweight_geom_data.h>
#include <mrpt/math/MatrixBlockSparseCols.h>
#include <mrpt/math/CArrayNumeric.h>
#include <mrpt/utils/TEnumType.h>
#include <mrpt/system/memory.h>
#include <set>

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Classes
struct	mrpt::srba::sensor_model< LANDMARK_TYPE, OBS_TYPE >
	Generic declaration, of which specializations are defined for each combination of LM+OBS type. More...
struct	mrpt::srba::kf2kf_pose_traits< POSE_TRAITS >
	The argument "POSE_TRAITS" can be any of those defined in srba/models/kf2kf_poses.h (typically, either kf2kf_poses::SE3 or kf2kf_poses::SE2). More...
struct	mrpt::srba::kf2kf_pose_traits< POSE_TRAITS >::pose_flag_t
	A joint structure for one relative pose + an "up-to-date" flag (needed for spanning trees numeric updates) More...
struct	mrpt::srba::kf2kf_pose_traits< POSE_TRAITS >::k2k_edge_t
	Keyframe-to-keyframe edge: an unknown of the problem. More...
struct	mrpt::srba::landmark_traits< LM_TRAITS >
	The argument "LM_TRAITS" can be any of those defined in srba/models/landmarks.h (typically, either landmarks::Euclidean3D or landmarks::Euclidean2D). More...
struct	mrpt::srba::landmark_traits< LM_TRAITS >::TRelativeLandmarkPos
	One relative feature observation entry, used with some relative bundle-adjustment functions. More...
struct	mrpt::srba::landmark_traits< LM_TRAITS >::TLandmarkEntry
	Used in the vector "all_lms". More...
struct	mrpt::srba::observation_traits< OBS_TRAITS >
struct	mrpt::srba::observation_traits< OBS_TRAITS >::observation_t
	Elemental observation data. More...
struct	mrpt::srba::TNewEdgeInfo
	Used in TNewKeyFrameInfo. More...
struct	mrpt::srba::TJacobianSymbolicInfo_dh_dAp< KF2KF_POSE_TYPE, LANDMARK_TYPE >
	Symbolic information of each Jacobian dh_dAp. More...
struct	mrpt::srba::TJacobianSymbolicInfo_dh_df< KF2KF_POSE_TYPE, LANDMARK_TYPE >
	Symbolic information of each Jacobian dh_df. More...
struct	mrpt::srba::THessianSymbolicInfo< Scalar, N, M1, M2 >
	Symbolic information of each Hessian block. More...
struct	mrpt::srba::THessianSymbolicInfo< Scalar, N, M1, M2 >::THessianSymbolicInfoEntry
	This Hessian block equals the sum of all J1^t * * J2, with J1=first, J2=second in each std::pair "const char *" are pointers to the validity bit of each Jacobian, so if it evaluates to false we should discard the Hessian entry. More...
struct	mrpt::srba::jacobian_traits< KF2KF_POSE_TYPE, LANDMARK_TYPE, OBS_TYPE >
	Types for the Jacobians: More...
struct	mrpt::srba::hessian_traits< KF2KF_POSE_TYPE, LANDMARK_TYPE, OBS_TYPE >
	Types for the Hessian blocks: More...
struct	mrpt::srba::rba_joint_parameterization_traits_t< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE >
	Useful data structures that depend of a combination of "OBSERVATION_TYPE"+"LANDMARK_PARAMETERIZATION_TYPE"+"RELATIVE_POSE_PARAMETERIZATION". More...
struct	mrpt::srba::rba_joint_parameterization_traits_t< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE >::new_kf_observation_t
	Observations, as provided by the user. More...
struct	mrpt::srba::rba_joint_parameterization_traits_t< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE >::kf_observation_t
	Keyframe-to-feature edge: observations in the problem. More...
struct	mrpt::srba::rba_joint_parameterization_traits_t< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE >::k2f_edge_t
	Keyframe-to-feature edge: observation data stored for each keyframe. More...
struct	mrpt::srba::rba_joint_parameterization_traits_t< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE >::keyframe_info
	Information per key-frame needed for RBA. More...
struct	mrpt::srba::TSpanTreeEntry
	Used in TRBA_Problem_state. More...
struct	mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >
	All the important data of a RBA problem at any given instant of time Operations on this structure are performed via the public API of srba::RbaEngine. More...
struct	mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree
struct	mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::TSpanningTreeSym
	The "symbolic" part of the spanning tree. More...
struct	mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TLinearSystem
struct	mrpt::utils::TEnumTypeFiller< mrpt::srba::TEdgeCreationPolicy >
struct	mrpt::utils::TEnumTypeFiller< mrpt::srba::TCovarianceRecoveryPolicy >

Namespaces
	mrpt
	This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
	mrpt::srba
	An heavily template-based implementation of Relative Bundle Adjustment (RBA) - See [mrpt-srba].
	mrpt::utils
	Classes for serialization, sockets, ini-file manipulation, streams, list of properties-values, timewatch, extensions to STL.

Typedefs
typedef uint64_t	mrpt::srba::TKeyFrameID
	Numeric IDs for key-frames (KFs) More...
typedef uint64_t	mrpt::srba::TLandmarkID
	Numeric IDs for landmarks. More...
typedef uint64_t	mrpt::srba::topo_dist_t
	Unsigned integral type for topological distances in a graph/tree. More...
typedef std::pair< TKeyFrameID, TKeyFrameID >	mrpt::srba::TPairKeyFrameID
	Used to represent the IDs of a directed edge (first –> second) More...

Enumerations
enum	mrpt::srba::TEdgeCreationPolicy { mrpt::srba::ecpICRA2013 = 0, mrpt::srba::ecpLinearGraph, mrpt::srba::ecpStarGraph }
	For usage in RbaEngine.parameters. More...
enum	mrpt::srba::TCovarianceRecoveryPolicy { mrpt::srba::crpNone = 0, mrpt::srba::crpLandmarksApprox }
	Covariances recovery from Hessian matrix policy, for usage in RbaEngine.parameters. More...

Functions
template<typename PAIR , typename V >
V	mrpt::srba::getTheOtherFromPair (const V one, const PAIR &p)
	Aux function for getting, from a std::pair, "the other" element which is different to a known given one. More...
template<typename K2K_EDGE , typename V >
V	mrpt::srba::getTheOtherFromPair2 (const V one, const K2K_EDGE &p)
	For usage with K2K_EDGE = typename kf2kf_pose_traits<POSE_TRAITS>::k2k_edge_t. More...