kfslam_traits< CRangeBearingKFSLAM > Struct Template Reference

Detailed Description

template<>
struct kfslam_traits< CRangeBearingKFSLAM >

Definition at line 132 of file KFSLAMApp.cpp.

Public Types
using	ekfslam_t = CRangeBearingKFSLAM
using	posepdf_t = CPose3DQuatPDFGaussian
using	pose_t = CPose3D
using	lm_t = CPoint3D

Static Public Member Functions
template<class ARR >
static void	landmark_to_3d (const ARR &lm, TPoint3D &p)
static void	doPartitioningExperiment (ekfslam_t &mapping, CMatrixDouble &fullCov, const string &OUT_DIR)

Member Typedef Documentation

ekfslam_t

using kfslam_traits< CRangeBearingKFSLAM >::ekfslam_t = CRangeBearingKFSLAM

Definition at line 134 of file KFSLAMApp.cpp.

lm_t

using kfslam_traits< CRangeBearingKFSLAM >::lm_t = CPoint3D

Definition at line 137 of file KFSLAMApp.cpp.

pose_t

using kfslam_traits< CRangeBearingKFSLAM >::pose_t = CPose3D

Definition at line 136 of file KFSLAMApp.cpp.

posepdf_t

using kfslam_traits< CRangeBearingKFSLAM >::posepdf_t = CPose3DQuatPDFGaussian

Definition at line 135 of file KFSLAMApp.cpp.

Member Function Documentation

doPartitioningExperiment()

static void kfslam_traits< CRangeBearingKFSLAM >::doPartitioningExperiment ( ekfslam_t &  mapping, CMatrixDouble &  fullCov, const string &  OUT_DIR  )

inlinestatic

Definition at line 147 of file KFSLAMApp.cpp.

References mrpt::slam::CRangeBearingKFSLAM::computeOffDiagonalBlocksApproximationError(), mrpt::slam::CRangeBearingKFSLAM::TOptions::doPartitioningExperiment, mrpt::slam::CRangeBearingKFSLAM::getLastPartition(), mrpt::slam::CRangeBearingKFSLAM::getLastPartitionLandmarks(), mrpt::slam::CRangeBearingKFSLAM::getLastPartitionLandmarksAsIfFixedSubmaps(), mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), mrpt::slam::CRangeBearingKFSLAM::mapPartitionOptions(), mrpt::slam::CRangeBearingKFSLAM::options, mrpt::slam::CIncrementalMapPartitioner::TOptions::partitionThreshold, mrpt::slam::CRangeBearingKFSLAM::reconsiderPartitionsNow(), mrpt::math::CMatrixDynamic< T >::rows(), mrpt::img::CImage::saveToFile(), mrpt::math::MatrixVectorBase< Scalar, Derived >::saveToTextFile(), and mrpt::img::CImage::setFromMatrix().

Here is the call graph for this function:

landmark_to_3d()

template<class ARR >

static void kfslam_traits< CRangeBearingKFSLAM >::landmark_to_3d ( const ARR &  lm, TPoint3D &  p  )

inlinestatic

Definition at line 140 of file KFSLAMApp.cpp.

References mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.