mrpt::srba::rba_joint_parameterization_traits_t< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE >::kf_observation_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 >::kf_observation_t

Keyframe-to-feature edge: observations in the problem.

Definition at line 428 of file srba_types.h.

#include <mrpt/srba/srba_types.h>

Public Member Functions
	kf_observation_t ()
	kf_observation_t (const typename obs_traits_t::observation_t &obs_, const TKeyFrameID kf_id_)

Public Attributes
obs_traits_t::observation_t	obs
	Observation data. More...
obs_traits_t::array_obs_t	obs_arr
	Observation data, summarized as an array of its parameters: obs.obs_data.getAsArray(obs_arr);. More...
TKeyFrameID	kf_id
	Observed from. More...

Constructor & Destructor Documentation

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE >

mrpt::srba::rba_joint_parameterization_traits_t< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE >::kf_observation_t::kf_observation_t ( )

inline

Definition at line 430 of file srba_types.h.

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE >

mrpt::srba::rba_joint_parameterization_traits_t< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE >::kf_observation_t::kf_observation_t ( const typename obs_traits_t::observation_t &  obs_, const TKeyFrameID  kf_id_  )

inline

Definition at line 431 of file srba_types.h.

Member Data Documentation

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE >

TKeyFrameID mrpt::srba::rba_joint_parameterization_traits_t< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE >::kf_observation_t::kf_id

Observed from.

Definition at line 435 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 >::compute_jacobian_dh_df(), mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::compute_jacobian_dh_dp(), 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 >

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

Observation data.

Definition at line 433 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(), 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 >

obs_traits_t::array_obs_t mrpt::srba::rba_joint_parameterization_traits_t< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE >::kf_observation_t::obs_arr

Observation data, summarized as an array of its parameters: obs.obs_data.getAsArray(obs_arr);.

Definition at line 434 of file srba_types.h.

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