mrpt::srba::TJacobianSymbolicInfo_dh_dAp< KF2KF_POSE_TYPE, LANDMARK_TYPE > Struct Template Reference

Detailed Description

template<class KF2KF_POSE_TYPE, class LANDMARK_TYPE>
struct mrpt::srba::TJacobianSymbolicInfo_dh_dAp< KF2KF_POSE_TYPE, LANDMARK_TYPE >

Symbolic information of each Jacobian dh_dAp.

Definition at line 207 of file srba_types.h.

#include <mrpt/srba/srba_types.h>

Public Types
typedef kf2kf_pose_traits< KF2KF_POSE_TYPE >	kf2kf_traits_t
typedef landmark_traits< LANDMARK_TYPE >	lm_traits_t

Public Attributes
const kf2kf_traits_t::pose_flag_t *	rel_pose_d1_from_obs
	The two relative poses used in this Jacobian (see papers) Pointers to the elements in the "numeric" part of the spanning tree ( TRBA_Problem_state::TSpanningTree ) More...
const kf2kf_traits_t::pose_flag_t *	rel_pose_base_from_d1
bool	edge_normal_dir
	If true, the edge direction points in the "canonical" direction: from "d" towards the direction of "obs" If false, this fact should be taking into account while computing the derivatives... More...
const lm_traits_t::TRelativeLandmarkPos *	feat_rel_pos
	Pointer to the relative feature position wrt its base KF. More...
TKeyFrameID	kf_d
	The ID of the keyframe before the edge wrt which we are taking derivatives (before if going backwards from the observer KF towards the base KF of the feature). More...
TKeyFrameID	kf_base
	The ID of the base keyframe of the observed feature. More...
size_t	k2k_edge_id
	The ID (0-based index in k2k_edges) of the edge wrt we are taking derivatives. More...
size_t	obs_idx
	The global index of the observation that generates this Jacobian. More...
char *	is_valid
	A reference to the validity bit in the global list TRBA_Problem_state::all_observations_Jacob_validity. More...

Member Typedef Documentation

template<class KF2KF_POSE_TYPE , class LANDMARK_TYPE >

typedef kf2kf_pose_traits<KF2KF_POSE_TYPE> mrpt::srba::TJacobianSymbolicInfo_dh_dAp< KF2KF_POSE_TYPE, LANDMARK_TYPE >::kf2kf_traits_t

Definition at line 209 of file srba_types.h.

template<class KF2KF_POSE_TYPE , class LANDMARK_TYPE >

typedef landmark_traits<LANDMARK_TYPE> mrpt::srba::TJacobianSymbolicInfo_dh_dAp< KF2KF_POSE_TYPE, LANDMARK_TYPE >::lm_traits_t

Definition at line 210 of file srba_types.h.

Member Data Documentation

template<class KF2KF_POSE_TYPE , class LANDMARK_TYPE >

bool mrpt::srba::TJacobianSymbolicInfo_dh_dAp< KF2KF_POSE_TYPE, LANDMARK_TYPE >::edge_normal_dir

If true, the edge direction points in the "canonical" direction: from "d" towards the direction of "obs" If false, this fact should be taking into account while computing the derivatives...

Definition at line 220 of file srba_types.h.

template<class KF2KF_POSE_TYPE , class LANDMARK_TYPE >

const lm_traits_t::TRelativeLandmarkPos* mrpt::srba::TJacobianSymbolicInfo_dh_dAp< KF2KF_POSE_TYPE, LANDMARK_TYPE >::feat_rel_pos

Pointer to the relative feature position wrt its base KF.

Definition at line 223 of file srba_types.h.

template<class KF2KF_POSE_TYPE , class LANDMARK_TYPE >

char* mrpt::srba::TJacobianSymbolicInfo_dh_dAp< KF2KF_POSE_TYPE, LANDMARK_TYPE >::is_valid

A reference to the validity bit in the global list TRBA_Problem_state::all_observations_Jacob_validity.

Definition at line 239 of file srba_types.h.

template<class KF2KF_POSE_TYPE , class LANDMARK_TYPE >

size_t mrpt::srba::TJacobianSymbolicInfo_dh_dAp< KF2KF_POSE_TYPE, LANDMARK_TYPE >::k2k_edge_id

The ID (0-based index in k2k_edges) of the edge wrt we are taking derivatives.

Definition at line 234 of file srba_types.h.

template<class KF2KF_POSE_TYPE , class LANDMARK_TYPE >

TKeyFrameID mrpt::srba::TJacobianSymbolicInfo_dh_dAp< KF2KF_POSE_TYPE, LANDMARK_TYPE >::kf_base

The ID of the base keyframe of the observed feature.

Definition at line 231 of file srba_types.h.

template<class KF2KF_POSE_TYPE , class LANDMARK_TYPE >

TKeyFrameID mrpt::srba::TJacobianSymbolicInfo_dh_dAp< KF2KF_POSE_TYPE, LANDMARK_TYPE >::kf_d

The ID of the keyframe before the edge wrt which we are taking derivatives (before if going backwards from the observer KF towards the base KF of the feature).

"d+1" in paper figures.

Definition at line 228 of file srba_types.h.

template<class KF2KF_POSE_TYPE , class LANDMARK_TYPE >

size_t mrpt::srba::TJacobianSymbolicInfo_dh_dAp< KF2KF_POSE_TYPE, LANDMARK_TYPE >::obs_idx

The global index of the observation that generates this Jacobian.

Definition at line 237 of file srba_types.h.

template<class KF2KF_POSE_TYPE , class LANDMARK_TYPE >

const kf2kf_traits_t::pose_flag_t * mrpt::srba::TJacobianSymbolicInfo_dh_dAp< KF2KF_POSE_TYPE, LANDMARK_TYPE >::rel_pose_base_from_d1

Definition at line 215 of file srba_types.h.

template<class KF2KF_POSE_TYPE , class LANDMARK_TYPE >

const kf2kf_traits_t::pose_flag_t* mrpt::srba::TJacobianSymbolicInfo_dh_dAp< KF2KF_POSE_TYPE, LANDMARK_TYPE >::rel_pose_d1_from_obs

The two relative poses used in this Jacobian (see papers) Pointers to the elements in the "numeric" part of the spanning tree ( TRBA_Problem_state::TSpanningTree )

Definition at line 215 of file srba_types.h.