mrpt::srba::rba_joint_parameterization_traits_t< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE >::k2f_edge_t Struct Reference

Detailed Description

template<class KF2KF_POSE_TYPE, class LM_TYPE, class OBS_TYPE>
struct mrpt::srba::rba_joint_parameterization_traits_t< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE >::k2f_edge_t

Keyframe-to-feature edge: observation data stored for each keyframe.

Definition at line 442 of file srba_types.h.

#include <mrpt/srba/srba_types.h>

Public Attributes
kf_observation_t	obs
bool	feat_has_known_rel_pos
	whether it's a known or unknown relative position feature More...
bool	is_first_obs_of_unknown
	true if this is the first observation of a feature with unknown relative position More...
lm_traits_t::TRelativeLandmarkPos *	feat_rel_pos
	Pointer to the known/unknown rel.pos. (always!=NULL) More...

Member Data Documentation

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE >

bool mrpt::srba::rba_joint_parameterization_traits_t< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE >::k2f_edge_t::feat_has_known_rel_pos

whether it's a known or unknown relative position feature

Definition at line 445 of file srba_types.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::add_observation(), and mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::VisitorOptimizeLocalArea::visit_k2f().

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE >

lm_traits_t::TRelativeLandmarkPos* mrpt::srba::rba_joint_parameterization_traits_t< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE >::k2f_edge_t::feat_rel_pos

Pointer to the known/unknown rel.pos. (always!=NULL)

Definition at line 447 of file srba_types.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::add_observation(), and mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::prepare_Jacobians_required_tree_roots().

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE >

bool mrpt::srba::rba_joint_parameterization_traits_t< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE >::k2f_edge_t::is_first_obs_of_unknown

true if this is the first observation of a feature with unknown relative position

Definition at line 446 of file srba_types.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::add_observation().

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE >

kf_observation_t mrpt::srba::rba_joint_parameterization_traits_t< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE >::k2f_edge_t::obs

Definition at line 444 of file srba_types.h.

Referenced by mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::add_observation(), mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::bfs_visitor(), mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::compute_jacobian_dh_df(), mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::compute_jacobian_dh_dp(), mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::prepare_Jacobians_required_tree_roots(), and mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::VisitorOptimizeLocalArea::visit_k2f().