Landmark

Check the LandmarkBase class code on GitLab

A Landmark is a geometric feature of the environment.

A Landmark has

• A std::map of pointers to state blocks, indexed by char, for example:

  • 'P' a point in space is a landmark with a state block specifying its Cartesian coordinates: [x y] for 2D, or [x y z] for 3D.

• Eventually, a descriptor, used for feature-landmark matching.