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ecl::slam_ekf::GenericObservationModel< FilterBase > Class Template Reference

#include <observation_generic.hpp>

List of all members.

Public Types

typedef FilterBase::Feature Feature
typedef FilterBase::FeatureVariance FeatureVariance
typedef FilterBase::Observation Innovation
typedef
FilterBase::ObservationJacobian 
Jacobian
typedef
FilterBase::ObservationNoise 
Noise
typedef FilterBase::Observation Observation
typedef FilterBase::Pose Pose

Public Member Functions

 GenericObservationModel (FilterBase &ekf_arrays)
Pose pose ()
virtual void updateFilter (const std::vector< Observation > &observations, const std::vector< unsigned int > &correspondences)
virtual ~GenericObservationModel ()

Static Public Attributes

static const unsigned int feature_dimension = FilterBase::feature_dimension
static const unsigned int observation_dimension = FilterBase::observation_dimension
static const unsigned int pose_dimension = FilterBase::pose_dimension

Protected Member Functions

virtual Innovation innovation (const Observation &observation, const Feature &feature, const Pose &current_pose)=0
virtual Noise noise ()=0
virtual Jacobian observationJacobian (const Feature &feature, const Pose &current_pose)=0

Protected Attributes

FilterBase & filter_base

Detailed Description

template<typename FilterBase>
class ecl::slam_ekf::GenericObservationModel< FilterBase >

Requires a few handles into the landmark class.

Definition at line 36 of file observation_generic.hpp.


Member Typedef Documentation

template<typename FilterBase >
typedef FilterBase::Feature ecl::slam_ekf::GenericObservationModel< FilterBase >::Feature

Definition at line 47 of file observation_generic.hpp.

template<typename FilterBase >
typedef FilterBase::FeatureVariance ecl::slam_ekf::GenericObservationModel< FilterBase >::FeatureVariance

Definition at line 48 of file observation_generic.hpp.

template<typename FilterBase >
typedef FilterBase::Observation ecl::slam_ekf::GenericObservationModel< FilterBase >::Innovation

Definition at line 44 of file observation_generic.hpp.

template<typename FilterBase >
typedef FilterBase::ObservationJacobian ecl::slam_ekf::GenericObservationModel< FilterBase >::Jacobian

Definition at line 45 of file observation_generic.hpp.

template<typename FilterBase >
typedef FilterBase::ObservationNoise ecl::slam_ekf::GenericObservationModel< FilterBase >::Noise

Definition at line 46 of file observation_generic.hpp.

template<typename FilterBase >
typedef FilterBase::Observation ecl::slam_ekf::GenericObservationModel< FilterBase >::Observation

Definition at line 43 of file observation_generic.hpp.

template<typename FilterBase >
typedef FilterBase::Pose ecl::slam_ekf::GenericObservationModel< FilterBase >::Pose

Definition at line 42 of file observation_generic.hpp.


Constructor & Destructor Documentation

template<typename FilterBase >
ecl::slam_ekf::GenericObservationModel< FilterBase >::GenericObservationModel ( FilterBase &  ekf_arrays) [inline]

Definition at line 50 of file observation_generic.hpp.

template<typename FilterBase >
virtual ecl::slam_ekf::GenericObservationModel< FilterBase >::~GenericObservationModel ( ) [inline, virtual]

Definition at line 51 of file observation_generic.hpp.


Member Function Documentation

template<typename FilterBase >
virtual Innovation ecl::slam_ekf::GenericObservationModel< FilterBase >::innovation ( const Observation observation,
const Feature feature,
const Pose current_pose 
) [protected, pure virtual]
template<typename FilterBase >
virtual Noise ecl::slam_ekf::GenericObservationModel< FilterBase >::noise ( ) [protected, pure virtual]
template<typename FilterBase >
virtual Jacobian ecl::slam_ekf::GenericObservationModel< FilterBase >::observationJacobian ( const Feature feature,
const Pose current_pose 
) [protected, pure virtual]
template<typename FilterBase >
Pose ecl::slam_ekf::GenericObservationModel< FilterBase >::pose ( ) [inline]

Definition at line 94 of file observation_generic.hpp.

template<typename FilterBase >
virtual void ecl::slam_ekf::GenericObservationModel< FilterBase >::updateFilter ( const std::vector< Observation > &  observations,
const std::vector< unsigned int > &  correspondences 
) [inline, virtual]

LandMark needs:

 unsigned int correspondence();
 const Observation& innovation() const;

Also the observation model needs the virtual methods configured.

Parameters:
observations: a set of incoming observations.
correspondences: ekf filter correspondences associated with the observations.

Definition at line 66 of file observation_generic.hpp.


Member Data Documentation

template<typename FilterBase >
const unsigned int ecl::slam_ekf::GenericObservationModel< FilterBase >::feature_dimension = FilterBase::feature_dimension [static]

Definition at line 40 of file observation_generic.hpp.

template<typename FilterBase >
FilterBase& ecl::slam_ekf::GenericObservationModel< FilterBase >::filter_base [protected]

Definition at line 99 of file observation_generic.hpp.

template<typename FilterBase >
const unsigned int ecl::slam_ekf::GenericObservationModel< FilterBase >::observation_dimension = FilterBase::observation_dimension [static]

Definition at line 39 of file observation_generic.hpp.

template<typename FilterBase >
const unsigned int ecl::slam_ekf::GenericObservationModel< FilterBase >::pose_dimension = FilterBase::pose_dimension [static]

Definition at line 38 of file observation_generic.hpp.


The documentation for this class was generated from the following file:
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ecl_slam
Author(s): Daniel Stonier
autogenerated on Thu Apr 25 2013 15:26:27