mrpt::srba::hessian_traits< KF2KF_POSE_TYPE, LANDMARK_TYPE, OBS_TYPE > Struct Template Reference

Detailed Description

template<class KF2KF_POSE_TYPE, class LANDMARK_TYPE, class OBS_TYPE>
struct mrpt::srba::hessian_traits< KF2KF_POSE_TYPE, LANDMARK_TYPE, OBS_TYPE >

Types for the Hessian blocks:

    [  H_Ap    |  H_Apf  ]
H = [ ---------+-------- ]
    [  H_Apf^t |   Hf    ]

Definition at line 330 of file srba_types.h.

#include <mrpt/srba/srba_types.h>

Inheritance diagram for mrpt::srba::hessian_traits< KF2KF_POSE_TYPE, LANDMARK_TYPE, OBS_TYPE >:

Public Types
typedef THessianSymbolicInfo< double, OBS_DIMS, REL_POSE_DIMS, REL_POSE_DIMS >	hessian_Ap_info_t
typedef THessianSymbolicInfo< double, OBS_DIMS, LM_DIMS, LM_DIMS >	hessian_f_info_t
typedef THessianSymbolicInfo< double, OBS_DIMS, REL_POSE_DIMS, LM_DIMS >	hessian_Apf_info_t
typedef mrpt::math::MatrixBlockSparseCols< double, REL_POSE_DIMS, REL_POSE_DIMS, hessian_Ap_info_t, false >	TSparseBlocksHessian_Ap
typedef mrpt::math::MatrixBlockSparseCols< double, LM_DIMS, LM_DIMS, hessian_f_info_t, false >	TSparseBlocksHessian_f
typedef mrpt::math::MatrixBlockSparseCols< double, REL_POSE_DIMS, LM_DIMS, hessian_Apf_info_t, false >	TSparseBlocksHessian_Apf
typedef mrpt::utils::map_as_vector< TLandmarkID, typename TSparseBlocksHessian_f::matrix_t, typename mrpt::aligned_containers< std::pair< TLandmarkID, typename TSparseBlocksHessian_f::matrix_t > >::deque_t >	landmarks2infmatrix_t
	The list with all the information matrices (estimation uncertainty) for each unknown landmark. More...

Static Public Attributes
static const size_t	OBS_DIMS = OBS_TYPE::OBS_DIMS
static const size_t	REL_POSE_DIMS = KF2KF_POSE_TYPE::REL_POSE_DIMS
static const size_t	LM_DIMS = LANDMARK_TYPE::LM_DIMS

Member Typedef Documentation

template<class KF2KF_POSE_TYPE, class LANDMARK_TYPE, class OBS_TYPE>

typedef THessianSymbolicInfo<double,OBS_DIMS,REL_POSE_DIMS,REL_POSE_DIMS> mrpt::srba::hessian_traits< KF2KF_POSE_TYPE, LANDMARK_TYPE, OBS_TYPE >::hessian_Ap_info_t

Definition at line 336 of file srba_types.h.

template<class KF2KF_POSE_TYPE, class LANDMARK_TYPE, class OBS_TYPE>

typedef THessianSymbolicInfo<double,OBS_DIMS,REL_POSE_DIMS,LM_DIMS> mrpt::srba::hessian_traits< KF2KF_POSE_TYPE, LANDMARK_TYPE, OBS_TYPE >::hessian_Apf_info_t

Definition at line 338 of file srba_types.h.

template<class KF2KF_POSE_TYPE, class LANDMARK_TYPE, class OBS_TYPE>

typedef THessianSymbolicInfo<double,OBS_DIMS,LM_DIMS,LM_DIMS> mrpt::srba::hessian_traits< KF2KF_POSE_TYPE, LANDMARK_TYPE, OBS_TYPE >::hessian_f_info_t

Definition at line 337 of file srba_types.h.

template<class KF2KF_POSE_TYPE, class LANDMARK_TYPE, class OBS_TYPE>

typedef mrpt::utils::map_as_vector< TLandmarkID, typename TSparseBlocksHessian_f::matrix_t, typename mrpt::aligned_containers<std::pair<TLandmarkID,typename TSparseBlocksHessian_f::matrix_t > >:: deque_t > mrpt::srba::hessian_traits< KF2KF_POSE_TYPE, LANDMARK_TYPE, OBS_TYPE >::landmarks2infmatrix_t

The list with all the information matrices (estimation uncertainty) for each unknown landmark.

Definition at line 355 of file srba_types.h.

template<class KF2KF_POSE_TYPE, class LANDMARK_TYPE, class OBS_TYPE>

typedef mrpt::math::MatrixBlockSparseCols<double,REL_POSE_DIMS , REL_POSE_DIMS , hessian_Ap_info_t , false> mrpt::srba::hessian_traits< KF2KF_POSE_TYPE, LANDMARK_TYPE, OBS_TYPE >::TSparseBlocksHessian_Ap

Definition at line 341 of file srba_types.h.

template<class KF2KF_POSE_TYPE, class LANDMARK_TYPE, class OBS_TYPE>

typedef mrpt::math::MatrixBlockSparseCols<double,REL_POSE_DIMS , LM_DIMS , hessian_Apf_info_t, false> mrpt::srba::hessian_traits< KF2KF_POSE_TYPE, LANDMARK_TYPE, OBS_TYPE >::TSparseBlocksHessian_Apf

Definition at line 343 of file srba_types.h.

template<class KF2KF_POSE_TYPE, class LANDMARK_TYPE, class OBS_TYPE>

typedef mrpt::math::MatrixBlockSparseCols<double,LM_DIMS , LM_DIMS , hessian_f_info_t , false> mrpt::srba::hessian_traits< KF2KF_POSE_TYPE, LANDMARK_TYPE, OBS_TYPE >::TSparseBlocksHessian_f

Definition at line 342 of file srba_types.h.

Member Data Documentation

template<class KF2KF_POSE_TYPE, class LANDMARK_TYPE, class OBS_TYPE>

const size_t mrpt::srba::hessian_traits< KF2KF_POSE_TYPE, LANDMARK_TYPE, OBS_TYPE >::LM_DIMS = LANDMARK_TYPE::LM_DIMS

static

Definition at line 334 of file srba_types.h.

template<class KF2KF_POSE_TYPE, class LANDMARK_TYPE, class OBS_TYPE>

const size_t mrpt::srba::hessian_traits< KF2KF_POSE_TYPE, LANDMARK_TYPE, OBS_TYPE >::OBS_DIMS = OBS_TYPE::OBS_DIMS

static

Definition at line 332 of file srba_types.h.

template<class KF2KF_POSE_TYPE, class LANDMARK_TYPE, class OBS_TYPE>

const size_t mrpt::srba::hessian_traits< KF2KF_POSE_TYPE, LANDMARK_TYPE, OBS_TYPE >::REL_POSE_DIMS = KF2KF_POSE_TYPE::REL_POSE_DIMS

static

Definition at line 333 of file srba_types.h.