beluga::LandmarkMap Class Reference

Basic 3D landmark map datatype. More...

#include <landmark_map.hpp>

Public Types
using	landmarks_set_position_data = std::vector< LandmarkPositionDetection >
	Vector of landmarks. More...
using	world_pose_type = Sophus::SE3d
	Type used to represent poses in the world frame. More...

Public Member Functions
std::optional< LandmarkBearing3 >	find_closest_bearing_landmark (const LandmarkBearing3 &detection_bearing_in_sensor, const LandmarkCategory &detection_category, const world_pose_type &sensor_pose_in_world) const
	Finds the landmark that minimizes the bearing error to a given detection and returns its data. More...
std::optional< LandmarkPosition3 >	find_nearest_landmark (const LandmarkPosition3 &detection_position_in_world, const LandmarkCategory &detection_category) const
	Finds the nearest landmark to a given detection and returns it's data. More...
	LandmarkMap (const LandmarkMapBoundaries &boundaries, landmarks_set_position_data landmarks)
	Constructor. More...
LandmarkMapBoundaries	map_limits () const
	Returns the map boundaries. More...

Private Attributes
landmarks_set_position_data	landmarks_
LandmarkMapBoundaries	map_boundaries_

Detailed Description

Basic 3D landmark map datatype.

Definition at line 39 of file landmark_map.hpp.

Member Typedef Documentation

landmarks_set_position_data

using beluga::LandmarkMap::landmarks_set_position_data = std::vector<LandmarkPositionDetection>

Vector of landmarks.

Definition at line 42 of file landmark_map.hpp.

world_pose_type

using beluga::LandmarkMap::world_pose_type = Sophus::SE3d

Type used to represent poses in the world frame.

Definition at line 44 of file landmark_map.hpp.

Constructor & Destructor Documentation

LandmarkMap()

beluga::LandmarkMap::LandmarkMap ( const LandmarkMapBoundaries &  boundaries, landmarks_set_position_data  landmarks  )

inline

Constructor.

Parameters

boundaries	Limits of the map.
landmarks	List of landmarks that can be expected to be detected.

Definition at line 49 of file landmark_map.hpp.

Member Function Documentation

find_closest_bearing_landmark()

std::optional<LandmarkBearing3> beluga::LandmarkMap::find_closest_bearing_landmark ( const LandmarkBearing3 &  detection_bearing_in_sensor, const LandmarkCategory &  detection_category, const world_pose_type &  sensor_pose_in_world  ) const

inline

Finds the landmark that minimizes the bearing error to a given detection and returns its data.

Parameters

detection_bearing_in_sensor	The detection data.
detection_category	The category of the detection.
sensor_pose_in_world	The pose of the sensor in the world frame.

Returns

The landmark data. nullopt if no landmark was found.

Definition at line 96 of file landmark_map.hpp.

find_nearest_landmark()

std::optional<LandmarkPosition3> beluga::LandmarkMap::find_nearest_landmark ( const LandmarkPosition3 &  detection_position_in_world, const LandmarkCategory &  detection_category  ) const

inline

Finds the nearest landmark to a given detection and returns it's data.

Parameters

detection_position_in_world	The detection data.
detection_category	The category of the detection.

Returns

The landmark data. nullopt if no landmark was found.

Definition at line 60 of file landmark_map.hpp.

map_limits()

LandmarkMapBoundaries beluga::LandmarkMap::map_limits ( ) const

inline

Returns the map boundaries.

Returns

The map boundaries.

Definition at line 54 of file landmark_map.hpp.

Member Data Documentation

landmarks_

landmarks_set_position_data beluga::LandmarkMap::landmarks_

private

Definition at line 143 of file landmark_map.hpp.

map_boundaries_

LandmarkMapBoundaries beluga::LandmarkMap::map_boundaries_

private

Definition at line 144 of file landmark_map.hpp.

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

• landmark_map.hpp