wolf::FeatureBase Class Reference

#include <core/feature/feature_base.h>

Inheritance diagram for wolf::FeatureBase:

Public Types
enum	UncertaintyType { UNCERTAINTY_IS_COVARIANCE , UNCERTAINTY_IS_INFO , UNCERTAINTY_IS_STDDEV }

Public Member Functions
	FeatureBase (const std::string &_type, const Eigen::VectorXd &_measurement, const Eigen::MatrixXd &_meas_uncertainty, UncertaintyType _uncertainty_type=UNCERTAINTY_IS_COVARIANCE)
	Constructor from capture pointer and measure. More...
	~FeatureBase () override=default
virtual void	remove (bool viral_remove_parent_without_children=false)
bool	hasChildren () const override
unsigned int	id () const
unsigned int	trackId () const
void	setTrackId (unsigned int _tr_id)
unsigned int	landmarkId () const
void	setLandmarkId (unsigned int _lmk_id)
double	getMeasurement (unsigned int _ii) const
const Eigen::VectorXd &	getMeasurement () const
const Eigen::MatrixXd &	getMeasurementCovariance () const
Eigen::MatrixXd	getMeasurementInformation () const
const Eigen::MatrixXd &	getMeasurementSquareRootInformationUpper () const
const Eigen::VectorXd &	getExpectation () const
void	setExpectation (const Eigen::VectorXd &expectation)
FrameBaseConstPtr	getFrame () const
FrameBasePtr	getFrame ()
CaptureBaseConstPtr	getCapture () const
CaptureBasePtr	getCapture ()
FactorBaseConstPtrList	getFactorList () const
FactorBasePtrList	getFactorList ()
void	getFactorList (FactorBaseConstPtrList &_fac_list) const
void	getFactorList (FactorBasePtrList &_fac_list)
bool	hasFactor (FactorBaseConstPtr _fac) const
void	link (CaptureBasePtr cap_ptr)
virtual void	printHeader (int depth, bool factored_by, bool metric, bool state_blocks, std::ostream &stream, std::string _tabs="") const
void	print (int depth, bool factored_by, bool metric, bool state_blocks, std::ostream &stream=std::cout, std::string _tabs="") const
virtual CheckLog	localCheck (bool _verbose, std::ostream &_stream, std::string _tabs="") const
bool	check (CheckLog &_log, bool _verbose, std::ostream &_stream, std::string _tabs="") const
Public Member Functions inherited from wolf::NodeBase
	NodeBase (const std::string &_category, const std::string &_type="Undefined", const std::string &_name="")
virtual	~NodeBase ()=default
unsigned int	nodeId () const
std::string	getCategory () const
std::string	getType () const
std::string	getName () const
bool	isRemoving () const
virtual bool	hasChildren () const =0
void	setType (const std::string &_type)
void	setName (const std::string &_name)
ProblemConstPtr	getProblem () const
ProblemPtr	getProblem ()

Static Public Member Functions
template<typename classType , typename... T>
static std::shared_ptr< classType >	emplace (CaptureBasePtr _cpt_ptr, T &&... all)

Protected Attributes
unsigned int	feature_id_
unsigned int	track_id_
unsigned int	landmark_id_
Eigen::VectorXd	measurement_
	the measurement vector More...
Eigen::MatrixXd	measurement_covariance_
	the measurement covariance matrix More...
Eigen::MatrixXd	measurement_sqrt_information_upper_
	the squared root information matrix More...
Eigen::VectorXd	expectation_
	expectation More...
Protected Attributes inherited from wolf::NodeBase
ProblemWPtr	problem_ptr_
unsigned int	node_id_
	Node id. It is unique over the whole Wolf Tree. More...
std::string	node_category_
	Text label identifying the category of node ("SENSOR", "FEATURE", etc) More...
std::string	node_type_
	Text label identifying the type or subcategory of node ("Pin Hole", "Point 2d", etc) More...
std::string	node_name_
bool	is_removing_
	A flag for safely removing nodes from the Wolf tree. See remove(). More...

Additional Inherited Members
Protected Member Functions inherited from wolf::NodeBase
virtual void	setProblem (ProblemPtr _prob_ptr)

Member Enumeration Documentation

UncertaintyType

enum wolf::FeatureBase::UncertaintyType

Enumerator
UNCERTAINTY_IS_COVARIANCE
UNCERTAINTY_IS_INFO
UNCERTAINTY_IS_STDDEV

Constructor & Destructor Documentation

FeatureBase()

wolf::FeatureBase::FeatureBase	(	const std::string &	_type,
		const Eigen::VectorXd &	_measurement,
		const Eigen::MatrixXd &	_meas_uncertainty,
		UncertaintyType	_uncertainty_type = UNCERTAINTY_IS_COVARIANCE
	)

Constructor from capture pointer and measure.

Parameters

_type	type of feature – see wolf.h
_measurement	the measurement
_meas_covariance	the noise of the measurement

~FeatureBase()

wolf::FeatureBase::~FeatureBase ( )

overridedefault

Member Function Documentation

check()

bool wolf::FeatureBase::check	(	CheckLog &	_log,
		bool	_verbose,
		std::ostream &	_stream,
		std::string	_tabs = ""
	)		const

emplace()

template<typename classType , typename... T>

std::shared_ptr< classType > wolf::FeatureBase::emplace ( CaptureBasePtr  _cpt_ptr, T &&...  all  )

static

getCapture() [1/2]

CaptureBasePtr wolf::FeatureBase::getCapture ( )

inline

getCapture() [2/2]

CaptureBaseConstPtr wolf::FeatureBase::getCapture ( ) const

inline

getExpectation()

const Eigen::VectorXd & wolf::FeatureBase::getExpectation ( ) const

inline

getFactorList() [1/4]

FactorBasePtrList wolf::FeatureBase::getFactorList ( )

inline

getFactorList() [2/4]

FactorBaseConstPtrList wolf::FeatureBase::getFactorList ( ) const

inline

getFactorList() [3/4]

void wolf::FeatureBase::getFactorList

(

FactorBaseConstPtrList &

_fac_list

)

const

getFactorList() [4/4]

void wolf::FeatureBase::getFactorList

(

FactorBasePtrList &

_fac_list

)

getFrame() [1/2]

FrameBasePtr wolf::FeatureBase::getFrame

(

)

getFrame() [2/2]

FrameBaseConstPtr wolf::FeatureBase::getFrame

(

)

const

getMeasurement() [1/2]

const Eigen::VectorXd & wolf::FeatureBase::getMeasurement ( ) const

inline

getMeasurement() [2/2]

double wolf::FeatureBase::getMeasurement ( unsigned int  _ii ) const

inline

getMeasurementCovariance()

const Eigen::MatrixXd & wolf::FeatureBase::getMeasurementCovariance ( ) const

inline

getMeasurementInformation()

Eigen::MatrixXd wolf::FeatureBase::getMeasurementInformation ( ) const

inline

getMeasurementSquareRootInformationUpper()

const Eigen::MatrixXd & wolf::FeatureBase::getMeasurementSquareRootInformationUpper ( ) const

inline

hasChildren()

bool wolf::FeatureBase::hasChildren ( ) const

inlineoverridevirtual

Implements wolf::NodeBase.

hasFactor()

bool wolf::FeatureBase::hasFactor

(

FactorBaseConstPtr

_fac

)

const

id()

unsigned int wolf::FeatureBase::id ( ) const

inline

landmarkId()

unsigned int wolf::FeatureBase::landmarkId ( ) const

inline

link()

void wolf::FeatureBase::link

(

CaptureBasePtr

cap_ptr

)

localCheck()

CheckLog wolf::FeatureBase::localCheck ( bool  _verbose, std::ostream &  _stream, std::string  _tabs = ""  ) const

virtual

print()

void wolf::FeatureBase::print	(	int	depth,
		bool	factored_by,
		bool	metric,
		bool	state_blocks,
		std::ostream &	stream = std::cout,
		std::string	_tabs = ""
	)		const

printHeader()

void wolf::FeatureBase::printHeader ( int  depth, bool  factored_by, bool  metric, bool  state_blocks, std::ostream &  stream, std::string  _tabs = ""  ) const

virtual

remove()

void wolf::FeatureBase::remove ( bool  viral_remove_parent_without_children = false )

virtual

setExpectation()

void wolf::FeatureBase::setExpectation ( const Eigen::VectorXd &  expectation )

inline

setLandmarkId()

void wolf::FeatureBase::setLandmarkId ( unsigned int  _lmk_id )

inline

setTrackId()

void wolf::FeatureBase::setTrackId ( unsigned int  _tr_id )

inline

trackId()

unsigned int wolf::FeatureBase::trackId ( ) const

inline

Member Data Documentation

expectation_

Eigen::VectorXd wolf::FeatureBase::expectation_

protected

expectation

feature_id_

unsigned int wolf::FeatureBase::feature_id_

protected

landmark_id_

unsigned int wolf::FeatureBase::landmark_id_

protected

measurement_

Eigen::VectorXd wolf::FeatureBase::measurement_

protected

the measurement vector

measurement_covariance_

Eigen::MatrixXd wolf::FeatureBase::measurement_covariance_

protected

the measurement covariance matrix

measurement_sqrt_information_upper_

Eigen::MatrixXd wolf::FeatureBase::measurement_sqrt_information_upper_

protected

the squared root information matrix

track_id_

unsigned int wolf::FeatureBase::track_id_

protected

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

• include/core/feature/feature_base.h
• src/feature/feature_base.cpp