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

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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.

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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.

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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.

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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.

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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.

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

• observation_generic.hpp