mrpt::srba::landmarks::Euclidean2D Struct Reference

Detailed Description

A parameterization of landmark positions in Euclidean coordinates (2D)

Definition at line 58 of file landmarks.h.

#include <mrpt/srba/models/landmarks.h>

Public Types
typedef mrpt::srba::landmark_rendering_as_point	render_mode_t

Static Public Member Functions
template<class VECTOR >
static void	relativeEuclideanLocation (const VECTOR &posParams, mrpt::math::TPoint3D &posEuclidean)
	Converts the landmark parameterization into 3D Eucliden coordinates (used for OpenGL rendering, etc.) More...
template<class POSE , class VECTOR >
static void	composePosePoint (VECTOR &pt, const POSE &pose)
	Evaluates pt = pose (+) pt. More...
template<class POSE , class VECTOR >
static void	inverseComposePosePoint (const VECTOR &lm_global, VECTOR &lm_local, const POSE &pose)
	Evaluates lm_local = lm_global (-) pose. More...

Static Public Attributes
static const size_t	LM_DIMS = 2
	The number of parameters in each LM parameterization relative to its base KF: (x,y) More...
static const landmark_jacob_family_t	jacob_family = jacob_point_landmark
	Specify the kind of Jacobian to be used for compute_jacobian_dAepsDx_deps<> More...

Member Typedef Documentation

typedef mrpt::srba::landmark_rendering_as_point mrpt::srba::landmarks::Euclidean2D::render_mode_t

Definition at line 63 of file landmarks.h.

Member Function Documentation

template<class POSE , class VECTOR >

static void mrpt::srba::landmarks::Euclidean2D::composePosePoint ( VECTOR &  pt, const POSE &  pose  )

inlinestatic

Evaluates pt = pose (+) pt.

Parameters

[in,out]	pt	A vector with the landmark parameterization values
[in]	pose	The relative pose

Definition at line 77 of file landmarks.h.

References nanoflann::abs(), and ASSERTMSG_.

template<class POSE , class VECTOR >

static void mrpt::srba::landmarks::Euclidean2D::inverseComposePosePoint ( const VECTOR &  lm_global, VECTOR &  lm_local, const POSE &  pose  )

inlinestatic

Evaluates lm_local = lm_global (-) pose.

Parameters

[in]	lm_global	A vector with the landmark parameterization values in "global" coordinates
[out]	lm_local	A vector with the landmark parameterization values in "local" coordinates, as seen from "pose"
[in]	pose	The relative pose

Definition at line 88 of file landmarks.h.

template<class VECTOR >

static void mrpt::srba::landmarks::Euclidean2D::relativeEuclideanLocation ( const VECTOR &  posParams, mrpt::math::TPoint3D &  posEuclidean  )

inlinestatic

Converts the landmark parameterization into 3D Eucliden coordinates (used for OpenGL rendering, etc.)

Definition at line 66 of file landmarks.h.

References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

Member Data Documentation

const landmark_jacob_family_t mrpt::srba::landmarks::Euclidean2D::jacob_family = jacob_point_landmark

static

Specify the kind of Jacobian to be used for compute_jacobian_dAepsDx_deps<>

Definition at line 61 of file landmarks.h.

const size_t mrpt::srba::landmarks::Euclidean2D::LM_DIMS = 2

static

The number of parameters in each LM parameterization relative to its base KF: (x,y)

Definition at line 60 of file landmarks.h.