mrob::NodePose2d Class Reference

#include <nodePose2d.hpp>

Inheritance diagram for mrob::NodePose2d:

Collaboration diagram for mrob::NodePose2d:

Public Member Functions
	NodePose2d (const Mat31 &initial_x, Node::nodeMode mode=STANDARD)
virtual void	update (VectRefConst &dx)
virtual void	update_from_auxiliary (VectRefConst &dx)
virtual void	set_state (MatRefConst &x)
virtual void	set_auxiliary_state (MatRefConst &x)
virtual MatRefConst	get_state () const
virtual MatRefConst	get_auxiliary_state () const
void	print () const
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
Mat31	state_
Mat31	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 }

Detailed Description

This class NodePose2d for now is parametrized on XYT coordinates TODO compare with SE(2)

Constructor & Destructor Documentation

NodePose2d()

NodePose2d::NodePose2d ( const Mat31 &  initial_x, Node::nodeMode  mode = STANDARD  )

explicit

For initialization, requires an initial estimation of the state.

Member Function Documentation

get_auxiliary_state()

virtual MatRefConst mrob::NodePose2d::get_auxiliary_state ( ) const

inlinevirtual

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()

virtual MatRefConst mrob::NodePose2d::get_state ( ) const

inlinevirtual

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 NodePose2d::set_auxiliary_state ( MatRefConst &  x )

virtual

New auxiliary state set

Implements mrob::Node.

set_state()

void NodePose2d::set_state ( MatRefConst &  x )

virtual

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

Implements mrob::Node.

update()

void NodePose2d::update ( VectRefConst &  dx )

virtual

The update function, given any block vector it updates the value of the state (principal).

Since we don't know the size at compilation, we declare a dynamic matrix, but on run-time we would like to use a fixed block matrix, and this virtual function will handle it nicely.

Implements mrob::Node.

update_from_auxiliary()

void NodePose2d::update_from_auxiliary ( VectRefConst &  dx )

virtual

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/FGraph/mrob/factors/nodePose2d.hpp
• src/FGraph/factors/nodePose2d.cpp