mrpt::srba::landmarks::RelativePoses3D Struct Reference

Detailed Description

A parameterization of SE(3) relative poses ("fake landmarks" to emulate graph-SLAM)

Definition at line 124 of file landmarks.h.

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

Public Types
typedef mrpt::srba::landmark_rendering_as_pose_constraints	render_mode_t

Static Public Member Functions
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 = 6
	The number of parameters in each LM parameterization relative to its base KF. More...
static const landmark_jacob_family_t	jacob_family = jacob_relpose_landmark
	Specify the kind of Jacobian to be used for compute_jacobian_dAepsDx_deps<> More...

Member Typedef Documentation

typedef mrpt::srba::landmark_rendering_as_pose_constraints mrpt::srba::landmarks::RelativePoses3D::render_mode_t

Definition at line 129 of file landmarks.h.

Member Function Documentation

template<class POSE , class VECTOR >

static void mrpt::srba::landmarks::RelativePoses3D::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 135 of file landmarks.h.

References MRPT_UNUSED_PARAM.

template<class POSE , class VECTOR >

static void mrpt::srba::landmarks::RelativePoses3D::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 145 of file landmarks.h.

References MRPT_UNUSED_PARAM.

Member Data Documentation

const landmark_jacob_family_t mrpt::srba::landmarks::RelativePoses3D::jacob_family = jacob_relpose_landmark

static

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

Definition at line 127 of file landmarks.h.

const size_t mrpt::srba::landmarks::RelativePoses3D::LM_DIMS = 6

static

The number of parameters in each LM parameterization relative to its base KF.

Definition at line 126 of file landmarks.h.