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

Detailed Description

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

Symbolic information of each Jacobian dh_df.

Definition at line 246 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
lm_traits_t::TRelativeLandmarkPos *	feat_rel_pos
	A pointer to the relative position structure within rba_state.unknown_lms[] for this feature. More...
const kf2kf_traits_t::pose_flag_t *	rel_pose_base_from_obs
	The 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...
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_df< KF2KF_POSE_TYPE, LANDMARK_TYPE >::kf2kf_traits_t

Definition at line 248 of file srba_types.h.

template<class KF2KF_POSE_TYPE , class LANDMARK_TYPE >

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

Definition at line 249 of file srba_types.h.

Member Data Documentation

template<class KF2KF_POSE_TYPE , class LANDMARK_TYPE >

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

A pointer to the relative position structure within rba_state.unknown_lms[] for this feature.

Definition at line 253 of file srba_types.h.

template<class KF2KF_POSE_TYPE , class LANDMARK_TYPE >

char* mrpt::srba::TJacobianSymbolicInfo_dh_df< 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 263 of file srba_types.h.

template<class KF2KF_POSE_TYPE , class LANDMARK_TYPE >

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

The global index of the observation that generates this Jacobian.

Definition at line 261 of file srba_types.h.

template<class KF2KF_POSE_TYPE , class LANDMARK_TYPE >

const kf2kf_traits_t::pose_flag_t* mrpt::srba::TJacobianSymbolicInfo_dh_df< KF2KF_POSE_TYPE, LANDMARK_TYPE >::rel_pose_base_from_obs

The 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 258 of file srba_types.h.