mrob::NodePlane4d Class Reference

Inheritance diagram for mrob::NodePlane4d:

Collaboration diagram for mrob::NodePlane4d:

Public Member Functions
	NodePlane4d (const Mat41 &initial_x, Node::nodeMode mode=STANDARD)
void	update (VectRefConst &dx) override
void	update_from_auxiliary (VectRefConst &dx) override
void	set_state (MatRefConst &x) override
void	set_auxiliary_state (MatRefConst &x) override
MatRefConst	get_state () const override
MatRefConst	get_auxiliary_state () const override
void	print () const override
Public Member Functions inherited from mrob::Node
	Node (uint_t dim, nodeMode mode=STANDARD)
factor_id_t	get_id () const
void	set_id (factor_id_t id)
factor_id_t	get_dim (void) const
bool	is_connected_to_EF () const
void	set_connected_to_EF (bool state=true)
void	set_node_mode (nodeMode mode)
nodeMode	get_node_mode ()

Protected Attributes
Mat41	state_
Mat41	auxiliaryState_
Protected Attributes inherited from mrob::Node
factor_id_t	id_
uint_t	dim_
nodeMode	node_mode_
bool	isConnected2EF_

Additional Inherited Members
Public Types inherited from mrob::Node
enum	nodeMode { STANDARD = 0, ANCHOR, SCHUR_MARGI }

Constructor & Destructor Documentation

NodePlane4d()

NodePlane4d::NodePlane4d	(	const Mat41 &	initial_x,
		Node::nodeMode	mode = STANDARD
	)

Node Plane 4d stands for the representation of planes as 4x1 vectors: pi = [n', d] = [nx, ny, nz, d], s.t. ||n|| =1

For initialization, requires an initial estimation of the state in global coordinates. TODO: relative formulation of planes might be more convinient.

Note that the dimensionality of this node is 4, that is the DOF, althought we know that the normal lies in S^2, so that shrinks the DOF to 3 in total.

Member Function Documentation

get_auxiliary_state()

MatRefConst mrob::NodePlane4d::get_auxiliary_state ( ) const

inlineoverridevirtual

Returns a matrix to the last auxiliary state. This data structure is for the incre- metal implementation, or for error evaluation

Implements mrob::Node.

get_state()

MatRefConst mrob::NodePlane4d::get_state ( ) const

inlineoverridevirtual

Declared as a dynamic matrix reference to allow any size to be returned. At run time returns a Reference to a fixed size matrix and provide it as an argument for the getState function, no need to be dynamic, as long as the dimension is correctly set

Implements mrob::Node.

set_auxiliary_state()

void mrob::NodePlane4d::set_auxiliary_state ( MatRefConst &  x )

inlineoverridevirtual

New auxiliary state set

Implements mrob::Node.

set_state()

void mrob::NodePlane4d::set_state ( MatRefConst &  x )

inlineoverridevirtual

At run time sets the new value of the estate and auxiliary to be x

Implements mrob::Node.

update()

void NodePlane4d::update ( VectRefConst &  dx )

overridevirtual

Update of 4d is simply addition and a clamping process to guarantee unit normal pi'= clamped(pi + dx)

Implements mrob::Node.

update_from_auxiliary()

void NodePlane4d::update_from_auxiliary ( VectRefConst &  dx )

overridevirtual

Updates FROM the auxiliary state the principal state.

Implements mrob::Node.

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

• src/plane-surfaces/mrob/factors/nodePlane4d.hpp
• src/plane-surfaces/factors/nodePlane4d.cpp