Class Point3DFixedLandmark

Inheritance Relationships

Base Type

Class Documentation

class Point3DFixedLandmark : public fuse_variables::Point3DLandmark

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

This is commonly used to represent locations of visual features. This class differs from the Point3DLandmark in that the value of the landmark is held constant during optimization. This is appropriate if the landmark positions are known or were previously estimated to sufficient accuracy. 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 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 virtual bool holdConstant() const override

Specifies if the value of the variable should not be changed during optimization.

Friends

friend class boost::serialization::access