isam::Depthmono_Factor Class Reference

#include <slam_depthmono.h>

Inheritance diagram for isam::Depthmono_Factor:

List of all members.

Public Member Functions
Eigen::VectorXd	basic_error (Selector s=ESTIMATE) const
	Depthmono_Factor (Pose3d_Node *pose, Point3dh_Node *point, DepthmonoCamera *camera, const DepthmonoMeasurement &measure, const Noise &noise, bool relative=false)
	Depthmono_Factor (Pose3d_Node *pose, Point3d_Node *point, DepthmonoCamera *camera, const DepthmonoMeasurement &measure, const Noise &noise, bool relative=false)
void	initialize ()
Private Attributes
Pose3d_Node *	_base
DepthmonoCamera *	_camera
Point3d_Node *	_point
Point3dh_Node *	_point_h
Pose3d_Node *	_pose
bool	_relative

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Detailed Description

Depthmono observation of a 3D homogeneous point; projective or Euclidean geometry depending on constructor used.

Definition at line 130 of file slam_depthmono.h.

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Constructor & Destructor Documentation

isam::Depthmono_Factor::Depthmono_Factor	(	Pose3d_Node *	pose,
		Point3dh_Node *	point,
		DepthmonoCamera *	camera,
		const DepthmonoMeasurement &	measure,
		const Noise &	noise,
		bool	relative = false
	)		[inline]

Definition at line 141 of file slam_depthmono.h.

isam::Depthmono_Factor::Depthmono_Factor	(	Pose3d_Node *	pose,
		Point3d_Node *	point,
		DepthmonoCamera *	camera,
		const DepthmonoMeasurement &	measure,
		const Noise &	noise,
		bool	relative = false
	)		[inline]

Definition at line 166 of file slam_depthmono.h.

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Member Function Documentation

Eigen::VectorXd isam::Depthmono_Factor::basic_error

(

Selector

s = ESTIMATE

)

const [inline, virtual]

Implements isam::Factor.

Definition at line 207 of file slam_depthmono.h.

void isam::Depthmono_Factor::initialize

(

)

[inline, virtual]

Implements isam::Factor.

Definition at line 187 of file slam_depthmono.h.

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Member Data Documentation

Pose3d_Node* isam::Depthmono_Factor::_base [private]

Definition at line 136 of file slam_depthmono.h.

DepthmonoCamera* isam::Depthmono_Factor::_camera [private]

Definition at line 134 of file slam_depthmono.h.

Point3d_Node* isam::Depthmono_Factor::_point [private]

Definition at line 132 of file slam_depthmono.h.

Point3dh_Node* isam::Depthmono_Factor::_point_h [private]

Definition at line 133 of file slam_depthmono.h.

Pose3d_Node* isam::Depthmono_Factor::_pose [private]

Definition at line 131 of file slam_depthmono.h.

bool isam::Depthmono_Factor::_relative [private]

Definition at line 135 of file slam_depthmono.h.

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The documentation for this class was generated from the following file:

• slam_depthmono.h