karto::LinkInfo Class Reference

#include <OpenMapper.h>

Inheritance diagram for karto::LinkInfo:

Public Member Functions
const Matrix3 &	GetCovariance ()
const Pose2 &	GetPose1 ()
const Pose2 &	GetPose2 ()
const Pose2 &	GetPoseDifference ()
	LinkInfo (const Pose2 &rPose1, const Pose2 &rPose2, const Matrix3 &rCovariance)
void	Update (const Pose2 &rPose1, const Pose2 &rPose2, const Matrix3 &rCovariance)
virtual	~LinkInfo ()
Public Member Functions inherited from karto::EdgeLabel
	EdgeLabel ()
virtual	~EdgeLabel ()

Private Attributes
Matrix3	m_Covariance
Pose2	m_Pose1
Pose2	m_Pose2
Pose2	m_PoseDifference

Detailed Description

Definition at line 119 of file OpenMapper.h.

Constructor & Destructor Documentation

karto::LinkInfo::LinkInfo ( const Pose2 &  rPose1, const Pose2 &  rPose2, const Matrix3 &  rCovariance  )

inline

Link between the given poses

Parameters

rPose1	first pose
rPose2	second pose
rCovariance	link uncertainty

Definition at line 128 of file OpenMapper.h.

virtual karto::LinkInfo::~LinkInfo ( )

inlinevirtual

Destructor

Definition at line 136 of file OpenMapper.h.

Member Function Documentation

const Matrix3& karto::LinkInfo::GetCovariance ( )

inline

Gets the link covariance

Returns

link covariance

Definition at line 194 of file OpenMapper.h.

const Pose2& karto::LinkInfo::GetPose1 ( )

inline

Gets the first pose

Returns

first pose

Definition at line 167 of file OpenMapper.h.

const Pose2& karto::LinkInfo::GetPose2 ( )

inline

Gets the second pose

Returns

second pose

Definition at line 176 of file OpenMapper.h.

const Pose2& karto::LinkInfo::GetPoseDifference ( )

inline

Gets the pose difference

Returns

pose difference

Definition at line 185 of file OpenMapper.h.

void karto::LinkInfo::Update ( const Pose2 &  rPose1, const Pose2 &  rPose2, const Matrix3 &  rCovariance  )

inline

Changes the link information to be the given parameters

Parameters

rPose1	new first pose
rPose2	new second pose
rCovariance	new link uncertainty

Definition at line 147 of file OpenMapper.h.

Member Data Documentation

Matrix3 karto::LinkInfo::m_Covariance

private

Definition at line 203 of file OpenMapper.h.

Pose2 karto::LinkInfo::m_Pose1

private

Definition at line 200 of file OpenMapper.h.

Pose2 karto::LinkInfo::m_Pose2

private

Definition at line 201 of file OpenMapper.h.

Pose2 karto::LinkInfo::m_PoseDifference

private

Definition at line 202 of file OpenMapper.h.

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

• OpenMapper.h