mrpt::srba::jacobian_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::jacobian_traits< KF2KF_POSE_TYPE, LANDMARK_TYPE, OBS_TYPE >

Types for the Jacobians:

J = [  dh_dAp  |  dh_df ]

Definition at line 309 of file srba_types.h.

#include <mrpt/srba/srba_types.h>

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

Public Types
typedef TJacobianSymbolicInfo_dh_dAp< KF2KF_POSE_TYPE, LANDMARK_TYPE >	jacob_dh_dAp_info_t
typedef TJacobianSymbolicInfo_dh_df< KF2KF_POSE_TYPE, LANDMARK_TYPE >	jacob_dh_df_info_t
typedef mrpt::math::MatrixBlockSparseCols< double, OBS_DIMS, REL_POSE_DIMS, jacob_dh_dAp_info_t, false >	TSparseBlocksJacobians_dh_dAp
	The "false" is since we don't need to "remap" indices. More...
typedef mrpt::math::MatrixBlockSparseCols< double, OBS_DIMS, LM_DIMS, jacob_dh_df_info_t, true >	TSparseBlocksJacobians_dh_df

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 TJacobianSymbolicInfo_dh_dAp<KF2KF_POSE_TYPE,LANDMARK_TYPE> mrpt::srba::jacobian_traits< KF2KF_POSE_TYPE, LANDMARK_TYPE, OBS_TYPE >::jacob_dh_dAp_info_t

Definition at line 315 of file srba_types.h.

template<class KF2KF_POSE_TYPE, class LANDMARK_TYPE, class OBS_TYPE>

typedef TJacobianSymbolicInfo_dh_df<KF2KF_POSE_TYPE,LANDMARK_TYPE> mrpt::srba::jacobian_traits< KF2KF_POSE_TYPE, LANDMARK_TYPE, OBS_TYPE >::jacob_dh_df_info_t

Definition at line 316 of file srba_types.h.

template<class KF2KF_POSE_TYPE, class LANDMARK_TYPE, class OBS_TYPE>

typedef mrpt::math::MatrixBlockSparseCols<double,OBS_DIMS,REL_POSE_DIMS,jacob_dh_dAp_info_t, false> mrpt::srba::jacobian_traits< KF2KF_POSE_TYPE, LANDMARK_TYPE, OBS_TYPE >::TSparseBlocksJacobians_dh_dAp

The "false" is since we don't need to "remap" indices.

Definition at line 318 of file srba_types.h.

template<class KF2KF_POSE_TYPE, class LANDMARK_TYPE, class OBS_TYPE>

typedef mrpt::math::MatrixBlockSparseCols<double,OBS_DIMS,LM_DIMS,jacob_dh_df_info_t, true > mrpt::srba::jacobian_traits< KF2KF_POSE_TYPE, LANDMARK_TYPE, OBS_TYPE >::TSparseBlocksJacobians_dh_df

Definition at line 319 of file srba_types.h.

Member Data Documentation

template<class KF2KF_POSE_TYPE, class LANDMARK_TYPE, class OBS_TYPE>

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

static

Definition at line 313 of file srba_types.h.

template<class KF2KF_POSE_TYPE, class LANDMARK_TYPE, class OBS_TYPE>

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

static

Definition at line 311 of file srba_types.h.

template<class KF2KF_POSE_TYPE, class LANDMARK_TYPE, class OBS_TYPE>

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

static

Definition at line 312 of file srba_types.h.