mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TNumeric_dh_dAp_params Struct Reference

Detailed Description

template<class KF2KF_POSE_TYPE, class LM_TYPE, class OBS_TYPE, class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>
struct mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TNumeric_dh_dAp_params

Definition at line 687 of file RbaEngine.h.

#include <mrpt/srba/RbaEngine.h>

Public Member Functions
	TNumeric_dh_dAp_params (const size_t _k2k_edge_id, const pose_t *_pose_d1_wrt_obs, const pose_t &_pose_base_wrt_d1, const array_landmark_t &_xji_i, const bool _is_inverse_dir, const k2k_edges_deque_t &_k2k_edges, const typename OBS_TYPE::TObservationParams &_sensor_params, const typename RBA_OPTIONS::sensor_pose_on_robot_t::parameters_t &_sensor_pose)

Public Attributes
const size_t	k2k_edge_id
const pose_t *	pose_d1_wrt_obs
const pose_t &	pose_base_wrt_d1
const array_landmark_t &	xji_i
const bool	is_inverse_dir
const k2k_edges_deque_t &	k2k_edges
const OBS_TYPE::TObservationParams &	sensor_params
const RBA_OPTIONS::sensor_pose_on_robot_t::parameters_t &	sensor_pose

Constructor & Destructor Documentation

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TNumeric_dh_dAp_params::TNumeric_dh_dAp_params ( const size_t  _k2k_edge_id, const pose_t *  _pose_d1_wrt_obs, const pose_t &  _pose_base_wrt_d1, const array_landmark_t &  _xji_i, const bool  _is_inverse_dir, const k2k_edges_deque_t &  _k2k_edges, const typename OBS_TYPE::TObservationParams &  _sensor_params, const typename RBA_OPTIONS::sensor_pose_on_robot_t::parameters_t &  _sensor_pose  )

inline

Definition at line 689 of file RbaEngine.h.

Member Data Documentation

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

const bool mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TNumeric_dh_dAp_params::is_inverse_dir

Definition at line 714 of file RbaEngine.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::numeric_dh_dAp().

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

const size_t mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TNumeric_dh_dAp_params::k2k_edge_id

Definition at line 710 of file RbaEngine.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::numeric_dh_dAp().

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

const k2k_edges_deque_t& mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TNumeric_dh_dAp_params::k2k_edges

Definition at line 715 of file RbaEngine.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::numeric_dh_dAp().

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

const pose_t& mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TNumeric_dh_dAp_params::pose_base_wrt_d1

Definition at line 712 of file RbaEngine.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::numeric_dh_dAp().

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

const pose_t* mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TNumeric_dh_dAp_params::pose_d1_wrt_obs

Definition at line 711 of file RbaEngine.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::numeric_dh_dAp().

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

const OBS_TYPE::TObservationParams& mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TNumeric_dh_dAp_params::sensor_params

Definition at line 716 of file RbaEngine.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::numeric_dh_dAp().

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

const RBA_OPTIONS::sensor_pose_on_robot_t::parameters_t& mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TNumeric_dh_dAp_params::sensor_pose

Definition at line 717 of file RbaEngine.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::numeric_dh_dAp().

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS = RBA_OPTIONS_DEFAULT>

const array_landmark_t& mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TNumeric_dh_dAp_params::xji_i

Definition at line 713 of file RbaEngine.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::numeric_dh_dAp().