mrpt::srba::rba_joint_parameterization_traits_t< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE >::new_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 >::new_kf_observation_t

Observations, as provided by the user.

The following combinations are possible:

+-----------+---------------------------------------------+---------------------------------+
|                  DATA FIELDS                            |                                 |
+-----------+-------------------------+-------------------+       RESULTING OBSERVATION     |
| is_fixed  | is_unknown_with_init_val|      feat_rel_pos      |                                 |
+-----------+-------------------------+-------------------+---------------------------------+
|           |                         |                   | First observation of a landmark |
|   true    |     ( IGNORED )         | Landmark position |  with a fixed (known) relative  |
|           |                         |                   |    position wrt this keyframe   |
+-----------+-------------------------+-------------------+---------------------------------+
|           |                         |                   | First observation of a landmark |
|   false   |         true            | Landmark position |  with unknown relative position |
|           |                         |                   | whose guess is given in feat_rel_pos |
+-----------+-------------------------+-------------------+---------------------------------+
|           |                         |                   | Either:                         |
|           |                         |                   |  * First observation of a LM    |
|   false   |        false            |     (IGNORED)     | with unknown relative pos.      |
|           |                         |                   | In this case we'll call  sensor_model<>::inverse_sensor_model()
|           |                         |                   |  * Subsequent observations of   |
|           |                         |                   | any fixed or unknown LM.        |
+-----------+-------------------------+-------------------+---------------------------------+

Definition at line 394 of file srba_types.h.

#include <mrpt/srba/srba_types.h>

Public Member Functions
	new_kf_observation_t ()
	Default ctor. More...
template<class REL_POS >
void	setRelPos (const REL_POS &pos)
	Sets feat_rel_pos from any object that offers a [] operator and has the expected length "LM_TYPE::LM_DIMS". More...

Public Attributes
obs_traits_t::observation_t	obs
bool	is_fixed
	If true, feat_rel_pos has the fixed relative position of this landmark (Can be set to true only upon the FIRST observation of a fixed landmark) More...
bool	is_unknown_with_init_val
	Can be set to true only upon FIRST observation of a landmark with UNKNOWN relative position (the normal case). More...
lm_traits_t::array_landmark_t	feat_rel_pos
	Ignored unless is_fixed OR is_unknown_with_init_val are true (only one of them at once). 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 >::new_kf_observation_t::new_kf_observation_t ( )

inline

Default ctor.

Definition at line 397 of file srba_types.h.

References mrpt::srba::rba_joint_parameterization_traits_t< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE >::new_kf_observation_t::feat_rel_pos.

Member Function Documentation

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE >

template<class REL_POS >

void mrpt::srba::rba_joint_parameterization_traits_t< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE >::new_kf_observation_t::setRelPos ( const REL_POS &  pos )

inline

Sets feat_rel_pos from any object that offers a [] operator and has the expected length "LM_TYPE::LM_DIMS".

Definition at line 413 of file srba_types.h.

Member Data Documentation

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE >

lm_traits_t::array_landmark_t mrpt::srba::rba_joint_parameterization_traits_t< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE >::new_kf_observation_t::feat_rel_pos

Ignored unless is_fixed OR is_unknown_with_init_val are true (only one of them at once).

Definition at line 410 of file srba_types.h.

Referenced by mrpt::srba::rba_joint_parameterization_traits_t< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE >::new_kf_observation_t::new_kf_observation_t().

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 >::new_kf_observation_t::is_fixed

If true, feat_rel_pos has the fixed relative position of this landmark (Can be set to true only upon the FIRST observation of a fixed landmark)

Definition at line 403 of file srba_types.h.

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 >::new_kf_observation_t::is_unknown_with_init_val

Can be set to true only upon FIRST observation of a landmark with UNKNOWN relative position (the normal case).

If set to true, feat_rel_pos has the fixed relative position of this landmark.

Definition at line 408 of file srba_types.h.

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 >::new_kf_observation_t::obs

Definition at line 399 of file srba_types.h.

Referenced by mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::update_symbolic_new_node().