Class Point3DFixedLandmark

Defined in File point_3d_fixed_landmark.hpp

Inheritance Relationships

Base Type

public fuse_variables::FixedSizeVariable< 3 > (Template Class FixedSizeVariable)

Class Documentation

class Point3DFixedLandmark : public fuse_variables::FixedSizeVariable<3>

Variable representing a 3D point landmark that exists across time.

This is commonly used to represent locations of visual features. The UUID of this class is constant after construction and dependent on a user input database id. As such, the database id cannot be altered after construction.

Public Types

Can be used to directly index variables in the data array.

Values:

enumerator X

enumerator Y

enumerator Z

Public Functions

Point3DFixedLandmark() = default: Default constructor.

explicit Point3DFixedLandmark(const uint64_t &landmark_id)

Construct a point 3D variable given a landmarks id.

Parameters:: landmark_id – [in] The id associated to a landmark

inline double &x(): Read-write access to the X-axis position.

inline const double &x() const: Read-only access to the X-axis position.

inline double &y(): Read-write access to the Y-axis position.

inline const double &y() const: Read-only access to the Y-axis position.

inline double &z(): Read-write access to the Z-axis position.

inline const double &z() const: Read-only access to the Z-axis position.

inline const uint64_t &id() const: Read-only access to the id.

void print(std::ostream &stream = std::cout) const override

Print a human-readable description of the variable to the provided stream.

Parameters:: stream – [out] The stream to write to. Defaults to stdout.

bool holdConstant() const override: Specifies if the value of the variable should not be changed during optimization.

Friends

friend class boost::serialization::access