class Scene_DSM_Submap : public Scene_Single

Individual submap class: basically a normal Scene class but with DSM trimmings

Inheritance:

Inherited from Scene_Single:

Inherited from Scene:

Public

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()

Bookkeeping

virtual int vehicle_state_has_been_changed()

Call this when the vehicle state is changed to potentially fire submap changes, etc

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)

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()

Finding features from the list

virtual Feature* find_feature(Identifier id)

virtual Feature* find_feature_lab(int lab)

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)

Auto-select feature

virtual int auto_select_feature()

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()

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)

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)

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

Test a feature for measurability

virtual int test_for_visibility(Feature *fp)

Mark feature

virtual int mark_feature_by_lab(int lab)

Mark by integer label

virtual int mark_first_feature()

Mark first feature in list

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

Zero axes

virtual int zero_axes()

Normalise the state

virtual int normalise_state()

alphabetic index hierarchy of classes

this page has been generated automatically by doc++

(c)opyright by Malte Zöckler, Roland Wunderling
contact: doc++@zib.de