| General access functions
virtual Motion_Model* | get_motion_model ()
Get pointer to motion model
| virtual Internal_Measurement_Model* | get_internal_measurement_model ()
Get pointer to internal measurement model
| virtual Hor_Matrix* | get_xv ()
Get pointer to robot state
| virtual Hor_Matrix* | get_Pxx ()
Get pointer to robot covariance
| virtual int | get_no_selected ()
Number of selected features
| virtual int | get_no_features ()
Total number of features
| virtual int | get_total_state_size ()
Total size of state vector
| virtual int | get_successful_measurement_vector_size ()
| virtual void | set_successful_measurement_vector_size (int smvs)
| virtual Feature* | get_first_feature_ptr ()
| virtual Feature* | get_first_selected_ptr ()
| virtual int | get_marked_feature_label ()
| virtual Hor_Matrix* | get_hv ()
| virtual Hor_Matrix* | get_zv ()
| virtual Hor_Matrix* | get_Sv ()
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| Bookkeeping
virtual int | vehicle_state_has_been_changed ()
Call this when the vehicle state is changed to potentially fire
submap changes, etc
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| Accessing blocks of the covariance matrix
virtual int | get_Pyjyk (int j, int k, Hor_Matrix *Pyjyk)
| virtual Hor_Matrix* | get_Pyjyk_ptr (int j, int k)
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| Adding / deleting features
virtual int | add_new_feature (Identifier id, Hor_Matrix *y, Feature_Measurement_Model *f_m_m)
| virtual int | add_new_known_feature (Identifier id, Hor_Matrix *y_known, Hor_Matrix *xp_o, Feature_Measurement_Model *f_m_m, int known_feature_label)
| virtual int | delete_feature ()
| virtual int | exterminate_features ()
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| Finding features from the list
virtual Feature* | find_feature (Identifier id)
| virtual Feature* | find_feature_lab (int lab)
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| Selecting / deselecting features
virtual int | select_feature (Feature *fp)
| virtual int | deselect_feature (Feature *fp)
| virtual int | toggle_feature (Identifier id)
| virtual int | toggle_feature_lab (int lab)
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| Auto-select feature
virtual int | auto_select_feature ()
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| Output info on current features
virtual int | print_current_features ()
| virtual int | print_selected_features ()
| virtual int | print_covariances ()
| virtual int | print_robot_state ()
| virtual int | print_marked_feature_state ()
| virtual int | print_whole_state ()
| virtual int | output_state_to_file (int counter, char *filename)
| virtual int | output_state_to_file (int counter)
| virtual int | output_state_to_file ()
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| Manipulating total state and covariance
virtual int | construct_total_state_and_covariance (Hor_Matrix *V, Hor_Matrix *P)
| virtual int | fill_state_and_covariance (Hor_Matrix *V, Hor_Matrix *P)
| virtual int | construct_total_state (Hor_Matrix *V)
| virtual int | construct_total_covariance (Hor_Matrix *M)
| virtual int | fill_states (Hor_Matrix *V)
| virtual int | fill_covariances (Hor_Matrix *M)
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| Bookkeeping when measurements are made
virtual int | starting_measurements ()
| virtual int | failed_measurement_of_feature (Feature *fp)
| virtual int | successful_measurement_of_feature (Feature *fp)
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| Form matrices for measurement update
virtual int | construct_total_measurement_stuff (Hor_Matrix *nu_tot, Hor_Matrix *dh_by_dx_tot, Hor_Matrix *R)
| virtual int | predict_single_feature_measurements (Feature *fp)
| virtual int | predict_single_feature_measurements (Feature_Measurement_Model *model, Hor_Matrix *y, Hor_Matrix *xp, Hor_Matrix *h, Hor_Matrix *dh_by_dy, Hor_Matrix *dh_by_dxv, Hor_Matrix *R)
This one is probably redundant
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| Test a feature for measurability
virtual int | test_for_visibility (Feature *fp)
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| Mark feature
virtual int | mark_feature_by_lab (int lab)
Mark by integer label
| virtual int | mark_first_feature ()
Mark first feature in list
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| Internal Measurements
virtual int | successful_internal_measurement ()
Report a successful measurement
| virtual int | failed_internal_measurement ()
Repost a failed measurement
| virtual int | get_successful_internal_measurement_flag ()
Test success
| virtual int | predict_internal_measurement ()
| virtual int | construct_total_internal_measurement_stuff (Hor_Matrix *nu_tot, Hor_Matrix *dh_by_dx_tot, Hor_Matrix *R_tot)
Get ready for an internal measurement
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| Zero axes
virtual int | zero_axes ()
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| Normalise the state
virtual int | normalise_state ()
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