#include <core/feature/feature_motion.h>

Inheritance diagram for wolf::FeatureMotion:

Public Member Functions
	FeatureMotion (const std::string &_type, const Eigen::VectorXd &_delta_preint, const Eigen::MatrixXd _delta_preint_cov, const Eigen::VectorXd &_calib_preint, const Eigen::MatrixXd &_jacobian_calib)

	~FeatureMotion () override

const Eigen::VectorXd &	getDeltaPreint () const
	A new name for getMeasurement() More...

const Eigen::VectorXd &	getCalibrationPreint () const

const Eigen::MatrixXd &	getJacobianCalibration () const

Public Member Functions inherited from 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. 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 ()

Additional Inherited Members
Public Types inherited from wolf::FeatureBase
enum	UncertaintyType { UNCERTAINTY_IS_COVARIANCE , UNCERTAINTY_IS_INFO , UNCERTAINTY_IS_STDDEV }

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

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

Protected Attributes inherited from wolf::FeatureBase
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...

Constructor & Destructor Documentation

◆ FeatureMotion()

wolf::FeatureMotion::FeatureMotion	(	const std::string &	_type,
		const Eigen::VectorXd &	_delta_preint,
		const Eigen::MatrixXd	_delta_preint_cov,
		const Eigen::VectorXd &	_calib_preint,
		const Eigen::MatrixXd &	_jacobian_calib
	)

◆ ~FeatureMotion()

wolf::FeatureMotion::~FeatureMotion ( )

override

Member Function Documentation

◆ getCalibrationPreint()

const Eigen::VectorXd & wolf::FeatureMotion::getCalibrationPreint ( ) const

inline

◆ getDeltaPreint()

const Eigen::VectorXd & wolf::FeatureMotion::getDeltaPreint ( ) const

inline

A new name for getMeasurement()

◆ getJacobianCalibration()

const Eigen::MatrixXd & wolf::FeatureMotion::getJacobianCalibration ( ) const

inline

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

include/core/feature/feature_motion.h
src/feature/feature_motion.cpp

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ FeatureMotion()

◆ ~FeatureMotion()

Member Function Documentation

◆ getCalibrationPreint()

◆ getDeltaPreint()

◆ getJacobianCalibration()