struct mrpt::maps::CRandomFieldGridMap3D::TObservationGMRF

Overview

#include <mrpt/maps/CRandomFieldGridMap3D.h>

struct TObservationGMRF: public mrpt::graphs::ScalarFactorGraph::UnaryFactorVirtualBase
{
    // fields

    double obsValue;
    double Lambda;

    // construction

    TObservationGMRF(CRandomFieldGridMap3D& parent);

    // methods

    virtual double evaluateResidual() const;
    virtual double getInformation() const;
    virtual void evalJacobian(double& dr_dx) const;
};

Inherited Members

public:
    // fields

    size_t node_id;

    // methods

    virtual void evalJacobian(double& dr_dx) const = 0;

Fields

double obsValue

Observation value.

double Lambda

“Information” of the observation (=inverse of the variance)

Methods

virtual double evaluateResidual() const

Return the residual/error of this observation.

virtual double getInformation() const

Return the inverse of the variance of this constraint.

virtual void evalJacobian(double& dr_dx) const

Returns the derivative of the residual wrt the node value.