wolf::FrameBase Class Reference

#include <core/frame/frame_base.h>

Inheritance diagram for wolf::FrameBase:

Public Member Functions
	FrameBase (const TimeStamp &_ts, const TypeComposite &_frame_types, const VectorComposite &_frame_vectors, const PriorComposite &_frame_priors={})
	Constructor time stamp and specs composite. More...
	~FrameBase () override=default
void	link (TrajectoryBasePtr)
void	link (ProblemPtr _prb)
void	remove (bool viral_remove_parent_without_children=false) override
bool	hasChildren () const override
unsigned int	id () const override
void	setTimeStamp (const TimeStamp &_ts)
TimeStamp	getTimeStamp () const
void	getTimeStamp (TimeStamp &_ts) const
StateBlockConstPtr	getV () const
StateBlockPtr	getV ()
TrajectoryBaseConstPtr	getTrajectory () const
TrajectoryBasePtr	getTrajectory ()
FrameBaseConstPtr	getPreviousFrame (const unsigned int &i=1) const
FrameBaseConstPtr	getNextFrame (const unsigned int &i=1) const
FrameBasePtr	getPreviousFrame (const unsigned int &i=1)
FrameBasePtr	getNextFrame (const unsigned int &i=1)
CaptureBaseConstPtrList	getCaptureList () const
CaptureBasePtrList	getCaptureList ()
bool	hasCapture (const CaptureBaseConstPtr &_capture) const
FactorBaseConstPtrList	getFactorList () const
FactorBasePtrList	getFactorList ()
void	getFactorList (FactorBaseConstPtrList &_fac_list) const
void	getFactorList (FactorBasePtrList &_fac_list)
template<class C >
std::shared_ptr< const C >	getCaptureOfType () const
template<class C >
std::shared_ptr< C >	getCaptureOfType ()
CaptureBaseConstPtr	getCaptureOfType (const std::string &type) const
CaptureBasePtr	getCaptureOfType (const std::string &type)
template<class C >
std::list< std::shared_ptr< const C > >	getCapturesOfType () const
template<class C >
std::list< std::shared_ptr< C > >	getCapturesOfType ()
CaptureBaseConstPtrList	getCapturesOfType (const std::string &type) const
CaptureBasePtrList	getCapturesOfType (const std::string &type)
CaptureBaseConstPtr	getCaptureOf (SensorBaseConstPtr _sensor_ptr) const
CaptureBasePtr	getCaptureOf (SensorBaseConstPtr _sensor_ptr)
CaptureBaseConstPtr	getCaptureOf (SensorBaseConstPtr _sensor_ptr, const std::string &type) const
CaptureBasePtr	getCaptureOf (SensorBasePtr _sensor_ptr, const std::string &type)
CaptureBaseConstPtrList	getCapturesOf (SensorBaseConstPtr _sensor_ptr) const
CaptureBasePtrList	getCapturesOf (SensorBasePtr _sensor_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
FrameBasePtr	shared_from_this_frame ()
FrameBaseConstPtr	shared_from_this_frame () const
Public Member Functions inherited from wolf::NodeStateBlocks
	NodeStateBlocks (const std::string &_category, const std::string &_type, const TypeComposite &_state_types, const VectorComposite &_state_vectors, const PriorComposite &_state_priors)
	Constructor. More...
virtual	~NodeStateBlocks ()
virtual YAML::Node	toYaml () const
StateKeys	getKeys () const
TypeComposite	getStateTypes () const
bool	has (const char &_sb_key) const
bool	has (const std::string &_keys) const
virtual unsigned int	id () const =0
std::map< char, StateBlockConstPtr >	getStateBlockMap () const
std::map< char, StateBlockPtr >	getStateBlockMap ()
std::vector< StateBlockConstPtr >	getStateBlockVec () const
std::vector< StateBlockPtr >	getStateBlockVec ()
StateBlockConstPtr	getP () const
StateBlockConstPtr	getO () const
StateBlockPtr	getP ()
StateBlockPtr	getO ()
virtual void	fix ()
virtual void	unfix ()
virtual bool	isFixed () const
StateBlockPtr	emplaceStateBlock (const char key, const std::string &_type, const Eigen::VectorXd &_vector, const bool &_fixed)
	Emplace a state block. More...
StateBlockPtr	emplaceStateBlockZero (const char key, const std::string &_type, const bool &_fixed)
	Emplace a state block with zero state. More...
bool	hasStateBlock (const StateBlockConstPtr &_sb) const
bool	setStateBlock (const char _sb_key, const StateBlockPtr &_sb)
bool	stateBlockKey (const StateBlockConstPtr &_sb, char &_key) const
virtual StateBlockConstPtr	getStateBlock (const char &_sb_key) const
virtual StateBlockPtr	getStateBlock (const char &_sb_key)
void	setProblem (ProblemPtr _problem) override
virtual void	remove (bool viral_remove_parent_without_children=false)
bool	hasChildren () const override
void	emplaceFactorStateBlock (const char &_key, const Eigen::VectorXd &_x, const Eigen::MatrixXd &_cov, unsigned int _start_idx=0)
	Add an absolute factor to a parameter. More...
void	emplacePriors ()
FactorBaseConstPtrSet	getFactoredBySet () const
FactorBasePtrSet	getFactoredBySet ()
void	getFactoredBySet (FactorBaseConstPtrSet &_fac_set) const
void	getFactoredBySet (FactorBasePtrSet &_fac_set)
FactorBaseConstPtrSet	getSensoryFactorSet () const
FactorBasePtrSet	getSensoryFactorSet ()
std::map< char, FactorBaseConstPtr >	getPriorFactorMap () const
std::map< char, FactorBasePtr >	getPriorFactorMap ()
FactorBaseConstPtr	getPriorFactor (char) const
FactorBasePtr	getPriorFactor (char)
FactorBaseConstPtrList	getFactorsOf (ProcessorBaseConstPtr _processor_ptr, const std::string &type="") const
FactorBasePtrList	getFactorsOf (ProcessorBasePtr _processor_ptr, const std::string &type="")
bool	hasFactor (FactorBaseConstPtr _fac) const
VectorComposite	getState (const StateKeys &_keys="") const
void	setState (const VectorComposite &_state, const bool _notify=true)
void	setState (const Eigen::VectorXd &_state, const StateKeys &_keys, const std::list< SizeEigen > &_sizes, const bool _notify=true)
void	setState (const Eigen::VectorXd &_state, const StateKeys &_keys, const bool _notify=true)
void	setState (const StateKeys &_keys, const std::list< Eigen::VectorXd > &_vectors, const bool _notify=true)
Eigen::VectorXd	getStateVector (const StateKeys &_keys) const
unsigned int	getSize (const StateKeys &_keys="") const
unsigned int	getLocalSize (const StateKeys &_keys="") const
bool	getCovariance (const StateKeys &_keys, Eigen::MatrixXd &_cov) const
void	perturb (double amplitude=0.01)
	perturb all states states with random noise following an uniform distribution in [ -amplitude, amplitude ] More...
bool	isCapture () const
bool	isFrame () const
bool	isLandmark () const
bool	isSensor () 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 (TrajectoryBasePtr _ptr, T &&... all)

Protected Member Functions
void	setProblem (ProblemPtr _problem) override final
Protected Member Functions inherited from wolf::NodeStateBlocks
virtual void	removeStateBlock (const char &_sb_key)
void	transform (const VectorComposite &_transformation)
void	printState (bool _factored_by, bool _metric, bool _state_blocks, std::ostream &_stream, std::string _tabs) const
CheckLog	localCheck (bool _verbose, std::ostream &_stream, std::string _tabs) const
virtual void	setProblem (ProblemPtr _prob_ptr)

Protected Attributes
unsigned int	frame_id_
TimeStamp	time_stamp_
	frame time stamp 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

FrameBase()

wolf::FrameBase::FrameBase	(	const TimeStamp &	_ts,
		const TypeComposite &	_frame_types,
		const VectorComposite &	_frame_vectors,
		const PriorComposite &	_frame_priors = {}
	)

Constructor time stamp and specs composite.

Constructor with time stamp and specs (types, vectors, priors)

Parameters

_ts	is the time stamp associated to this frame, provided in seconds
_frame_types	TypeComposite containing the types of the state blocs.
_frame_vectors	VectorComposite containing the vectors of the the state blocs.
_frame_priors	PriorComposite containing the priors of the the state blocs.

~FrameBase()

wolf::FrameBase::~FrameBase ( )

overridedefault

Member Function Documentation

check()

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

emplace()

template<typename classType , typename... T>

std::shared_ptr< classType > wolf::FrameBase::emplace ( TrajectoryBasePtr  _ptr, T &&...  all  )

static

getCaptureList() [1/2]

CaptureBasePtrList wolf::FrameBase::getCaptureList ( )

inline

getCaptureList() [2/2]

CaptureBaseConstPtrList wolf::FrameBase::getCaptureList ( ) const

inline

getCaptureOf() [1/4]

CaptureBasePtr wolf::FrameBase::getCaptureOf

(

SensorBaseConstPtr

_sensor_ptr

)

getCaptureOf() [2/4]

CaptureBaseConstPtr wolf::FrameBase::getCaptureOf

(

SensorBaseConstPtr

_sensor_ptr

)

const

getCaptureOf() [3/4]

CaptureBaseConstPtr wolf::FrameBase::getCaptureOf	(	SensorBaseConstPtr	_sensor_ptr,
		const std::string &	type
	)		const

getCaptureOf() [4/4]

CaptureBasePtr wolf::FrameBase::getCaptureOf	(	SensorBasePtr	_sensor_ptr,
		const std::string &	type
	)

getCaptureOfType() [1/4]

template<class C >

std::shared_ptr< C > wolf::FrameBase::getCaptureOfType

inline

getCaptureOfType() [2/4]

template<class C >

std::shared_ptr< const C > wolf::FrameBase::getCaptureOfType

inline

getCaptureOfType() [3/4]

CaptureBasePtr wolf::FrameBase::getCaptureOfType

(

const std::string &

type

)

getCaptureOfType() [4/4]

CaptureBaseConstPtr wolf::FrameBase::getCaptureOfType

(

const std::string &

type

)

const

getCapturesOf() [1/2]

CaptureBaseConstPtrList wolf::FrameBase::getCapturesOf

(

SensorBaseConstPtr

_sensor_ptr

)

const

getCapturesOf() [2/2]

CaptureBasePtrList wolf::FrameBase::getCapturesOf

(

SensorBasePtr

_sensor_ptr

)

getCapturesOfType() [1/4]

template<class C >

std::list< std::shared_ptr< C > > wolf::FrameBase::getCapturesOfType

inline

getCapturesOfType() [2/4]

template<class C >

std::list< std::shared_ptr< const C > > wolf::FrameBase::getCapturesOfType

inline

getCapturesOfType() [3/4]

CaptureBasePtrList wolf::FrameBase::getCapturesOfType

(

const std::string &

type

)

getCapturesOfType() [4/4]

CaptureBaseConstPtrList wolf::FrameBase::getCapturesOfType

(

const std::string &

type

)

const

getFactorList() [1/4]

FactorBasePtrList wolf::FrameBase::getFactorList

(

)

getFactorList() [2/4]

FactorBaseConstPtrList wolf::FrameBase::getFactorList

(

)

const

getFactorList() [3/4]

void wolf::FrameBase::getFactorList

(

FactorBaseConstPtrList &

_fac_list

)

const

getFactorList() [4/4]

void wolf::FrameBase::getFactorList

(

FactorBasePtrList &

_fac_list

)

getNextFrame() [1/2]

FrameBasePtr wolf::FrameBase::getNextFrame

(

const unsigned int &

i = 1

)

getNextFrame() [2/2]

FrameBaseConstPtr wolf::FrameBase::getNextFrame

(

const unsigned int &

i = 1

)

const

getPreviousFrame() [1/2]

FrameBasePtr wolf::FrameBase::getPreviousFrame

(

const unsigned int &

i = 1

)

getPreviousFrame() [2/2]

FrameBaseConstPtr wolf::FrameBase::getPreviousFrame

(

const unsigned int &

i = 1

)

const

getTimeStamp() [1/2]

TimeStamp wolf::FrameBase::getTimeStamp ( ) const

inline

getTimeStamp() [2/2]

void wolf::FrameBase::getTimeStamp ( TimeStamp &  _ts ) const

inline

getTrajectory() [1/2]

TrajectoryBasePtr wolf::FrameBase::getTrajectory ( )

inline

getTrajectory() [2/2]

TrajectoryBaseConstPtr wolf::FrameBase::getTrajectory ( ) const

inline

getV() [1/2]

StateBlockPtr wolf::FrameBase::getV ( )

inline

getV() [2/2]

StateBlockConstPtr wolf::FrameBase::getV ( ) const

inline

hasCapture()

bool wolf::FrameBase::hasCapture

(

const CaptureBaseConstPtr &

_capture

)

const

hasChildren()

bool wolf::FrameBase::hasChildren ( ) const

overridevirtual

Reimplemented from wolf::NodeStateBlocks.

id()

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

inlineoverridevirtual

Implements wolf::NodeStateBlocks.

link() [1/2]

void wolf::FrameBase::link

(

ProblemPtr

_prb

)

link() [2/2]

void wolf::FrameBase::link

(

TrajectoryBasePtr

_trj_ptr

)

localCheck()

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

virtual

print()

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

printHeader()

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

virtual

remove()

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

overridevirtual

Reimplemented from wolf::NodeStateBlocks.

setProblem()

void wolf::FrameBase::setProblem ( ProblemPtr  _problem )

finaloverrideprotectedvirtual

Reimplemented from wolf::NodeStateBlocks.

setTimeStamp()

void wolf::FrameBase::setTimeStamp

(

const TimeStamp &

_ts

)

shared_from_this_frame() [1/2]

FrameBasePtr wolf::FrameBase::shared_from_this_frame ( )

inline

shared_from_this_frame() [2/2]

FrameBaseConstPtr wolf::FrameBase::shared_from_this_frame ( ) const

inline

Member Data Documentation

frame_id_

unsigned int wolf::FrameBase::frame_id_

protected

time_stamp_

TimeStamp wolf::FrameBase::time_stamp_

protected

frame time stamp

---

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

• include/core/frame/frame_base.h
• src/frame/frame_base.cpp