isam::Stereo_Factor Class Reference

#include <slam_stereo.h>

Inheritance diagram for isam::Stereo_Factor:

List of all members.

Public Member Functions
Eigen::VectorXd	basic_error (Selector s=ESTIMATE) const
void	initialize ()
	Stereo_Factor (Pose3d_Node *pose, Point3dh_Node *point, StereoCamera *camera, const StereoMeasurement &measure, const Noise &noise, bool relative=false)
	Stereo_Factor (Pose3d_Node *pose, Point3d_Node *point, StereoCamera *camera, const StereoMeasurement &measure, const Noise &noise, bool relative=false)
Private Attributes
Pose3d_Node *	_base
StereoCamera *	_camera
Point3d_Node *	_point
Point3dh_Node *	_point_h
Pose3d_Node *	_pose
bool	_relative

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Detailed Description

Stereo observation of a 3D homogeneous point; projective or Euclidean geometry depending on constructor used.

Definition at line 136 of file slam_stereo.h.

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Constructor & Destructor Documentation

isam::Stereo_Factor::Stereo_Factor	(	Pose3d_Node *	pose,
		Point3dh_Node *	point,
		StereoCamera *	camera,
		const StereoMeasurement &	measure,
		const Noise &	noise,
		bool	relative = false
	)		[inline]

Definition at line 147 of file slam_stereo.h.

isam::Stereo_Factor::Stereo_Factor	(	Pose3d_Node *	pose,
		Point3d_Node *	point,
		StereoCamera *	camera,
		const StereoMeasurement &	measure,
		const Noise &	noise,
		bool	relative = false
	)		[inline]

Definition at line 172 of file slam_stereo.h.

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Member Function Documentation

Eigen::VectorXd isam::Stereo_Factor::basic_error

(

Selector

s = ESTIMATE

)

const [inline, virtual]

Implements isam::Factor.

Definition at line 213 of file slam_stereo.h.

void isam::Stereo_Factor::initialize

(

)

[inline, virtual]

Implements isam::Factor.

Definition at line 193 of file slam_stereo.h.

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Member Data Documentation

Pose3d_Node* isam::Stereo_Factor::_base [private]

Definition at line 142 of file slam_stereo.h.

StereoCamera* isam::Stereo_Factor::_camera [private]

Definition at line 140 of file slam_stereo.h.

Point3d_Node* isam::Stereo_Factor::_point [private]

Definition at line 138 of file slam_stereo.h.

Point3dh_Node* isam::Stereo_Factor::_point_h [private]

Definition at line 139 of file slam_stereo.h.

Pose3d_Node* isam::Stereo_Factor::_pose [private]

Definition at line 137 of file slam_stereo.h.

bool isam::Stereo_Factor::_relative [private]

Definition at line 141 of file slam_stereo.h.

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

• slam_stereo.h