#include <core/landmark/landmark_base.h>

Inheritance diagram for wolf::LandmarkBase:

Public Member Functions
	LandmarkBase (const std::string &_type, const TypeComposite &_state_types, const VectorComposite &_state_vectors, const PriorComposite &_state_priors, const int _external_id=-1, const int _external_type=-1)
	Constructor type and state specs composites (types, vectors, priors) More...

	LandmarkBase (const std::string &_type, const TypeComposite &_state_types, const YAML::Node &_n)
	Constructor with type, state types composite and a YAML node (to be used by the derived classes YAML node constructors) More...

	~LandmarkBase () override=default

void	remove (bool viral_remove_parent_without_children=false) override

YAML::Node	toYaml () const override

unsigned int	id () const override

void	setId (unsigned int _id)

unsigned int	trackId ()

void	setTrackId (unsigned int _track_id)

void	setExternalId (const int &_external_id)

int	getExternalId () const

void	setExternalType (const int &_external_type)

int	getExternalType () const

MapBaseConstPtr	getMap () const

MapBasePtr	getMap ()

void	link (MapBasePtr)

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

virtual 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

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

LandmarkBasePtr	shared_from_this_landmark ()

LandmarkBaseConstPtr	shared_from_this_landmark () 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 (MapBasePtr _map_ptr, T &&... all)

Protected Member Functions
void	setProblem (ProblemPtr _problem) override

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	landmark_id_
	landmark unique id More...

unsigned int	track_id_
	associated track id More...

int	external_id_
	Id provided by an external tracker (-1 untracked) More...

int	external_type_
	Type provided by an external classifier (-1 unclassified) More...

TimeStamp	stamp_
	stamp of the creation of the landmark 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

◆ LandmarkBase() [1/2]

wolf::LandmarkBase::LandmarkBase	(	const std::string &	_type,
		const TypeComposite &	_state_types,
		const VectorComposite &	_state_vectors,
		const PriorComposite &	_state_priors,
		const int	_external_id = `-1`,
		const int	_external_type = `-1`
	)

Constructor type and state specs composites (types, vectors, priors)

Constructor with type and specs composite

Parameters

_type	TO BE HARDCODED IN THE DERIVED CLASS CONSTRUCTOR: derived landmark class name
_state_types	TO BE HARDCODED IN THE DERIVED CLASS CONSTRUCTOR: Composite of types of the landmark states.
_state_vectors	Composite of vectors of the states of the node. A 'StateBlock' for each key in '_state_vectors' will be emplaced (of the type specified in '_state_types'). Not all keys of '_state_types' are required to be specified, but all keys of '_state_vectors' should be in '_state_types'.
_state_priors	Composite of priors (initial_guess, factor or fixed) of the states of the node. Not all keys of '_state_vectors' are required to be specified, but all keys of '_state_priors' should be in '_state_vectors'. If not specified, no prior is assumed, i.e. 'initial_guess'.
_external_id	ID provided by an external tracker (default: -1 untracked)
_external_type	TYPE provided by an external classifier (default: -1 unclassified)

◆ LandmarkBase() [2/2]

wolf::LandmarkBase::LandmarkBase	(	const std::string &	_type,
		const TypeComposite &	_state_types,
		const YAML::Node &	_n
	)

Constructor with type, state types composite and a YAML node (to be used by the derived classes YAML node constructors)

Constructor with type, and YAML node

Parameters

_type	TO BE HARDCODED IN THE DERIVED CLASS CONSTRUCTOR: derived landmark class name
_state_types	TO BE HARDCODED IN THE DERIVED CLASS CONSTRUCTOR: Composite of types of the landmark states.
_n	YAML node containing the necessary information

◆ ~LandmarkBase()

wolf::LandmarkBase::~LandmarkBase ( )

overridedefault

Member Function Documentation

◆ check()

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

virtual

◆ emplace()

template<typename classType , typename... T>

std::shared_ptr< classType > wolf::LandmarkBase::emplace	(	MapBasePtr	_map_ptr,
		T &&...	all
	)

static

◆ getExternalId()

int wolf::LandmarkBase::getExternalId ( ) const

inline

◆ getExternalType()

int wolf::LandmarkBase::getExternalType ( ) const

inline

◆ getMap() [1/2]

MapBasePtr wolf::LandmarkBase::getMap ( )

inline

◆ getMap() [2/2]

MapBaseConstPtr wolf::LandmarkBase::getMap ( ) const

inline

◆ id()

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

inlineoverridevirtual

Implements wolf::NodeStateBlocks.

◆ link()

void wolf::LandmarkBase::link ( MapBasePtr _map_ptr )

◆ localCheck()

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

virtual

◆ print()

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

virtual

◆ printHeader()

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

virtual

◆ remove()

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

overridevirtual

Reimplemented from wolf::NodeStateBlocks.

◆ setExternalId()

void wolf::LandmarkBase::setExternalId ( const int & _external_id )

inline

◆ setExternalType()

void wolf::LandmarkBase::setExternalType ( const int & _external_type )

inline

◆ setId()

void wolf::LandmarkBase::setId ( unsigned int _id )

inline

◆ setProblem()

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

overrideprotectedvirtual

Reimplemented from wolf::NodeStateBlocks.

◆ setTrackId()

void wolf::LandmarkBase::setTrackId ( unsigned int _track_id )

inline

◆ shared_from_this_landmark() [1/2]

LandmarkBasePtr wolf::LandmarkBase::shared_from_this_landmark ( )

inline

◆ shared_from_this_landmark() [2/2]

LandmarkBaseConstPtr wolf::LandmarkBase::shared_from_this_landmark ( ) const

inline

◆ toYaml()

YAML::Node wolf::LandmarkBase::toYaml ( ) const

overridevirtual

Reimplemented from wolf::NodeStateBlocks.

◆ trackId()

unsigned int wolf::LandmarkBase::trackId ( )

inline

Member Data Documentation

◆ external_id_

int wolf::LandmarkBase::external_id_

protected

Id provided by an external tracker (-1 untracked)

◆ external_type_

int wolf::LandmarkBase::external_type_

protected

Type provided by an external classifier (-1 unclassified)

◆ landmark_id_

unsigned int wolf::LandmarkBase::landmark_id_

protected

landmark unique id

◆ stamp_

TimeStamp wolf::LandmarkBase::stamp_

protected

stamp of the creation of the landmark

◆ track_id_

unsigned int wolf::LandmarkBase::track_id_

protected

associated track id

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

include/core/landmark/landmark_base.h
src/landmark/landmark_base.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ LandmarkBase() [1/2]

◆ LandmarkBase() [2/2]

◆ ~LandmarkBase()

Member Function Documentation

◆ check()

◆ emplace()

◆ getExternalId()

◆ getExternalType()

◆ getMap() [1/2]

◆ getMap() [2/2]

◆ id()

◆ link()

◆ localCheck()

◆ print()

◆ printHeader()

◆ remove()

◆ setExternalId()

◆ setExternalType()

◆ setId()

◆ setProblem()

◆ setTrackId()

◆ shared_from_this_landmark() [1/2]

◆ shared_from_this_landmark() [2/2]

◆ toYaml()

◆ trackId()

Member Data Documentation

◆ external_id_

◆ external_type_

◆ landmark_id_

◆ stamp_

◆ track_id_