#include <observation.h>

Public Types
typedef std::shared_ptr< Observation >	Ptr

typedef std::shared_ptr< const Observation >	ConstPtr

Public Member Functions
	~Observation ()

std::shared_ptr< View >	GetView () const

std::shared_ptr< Landmark >	GetLandmark () const

void	SetMatchedLandmark (LandmarkIndex landmark_index)

bool	IsMatched () const

void	SetIncorporatedLandmark (LandmarkIndex landmark_index)

bool	IsIncorporated () const

const ::bsfm::Feature &	Feature () const

const ::bsfm::Descriptor &	Descriptor () const

Static Public Member Functions
static Observation::Ptr	Create (const std::shared_ptr< View > &view_ptr, const ::bsfm::Feature &feature, const ::bsfm::Descriptor &descriptor)

Private Member Functions
	Observation ()

	Observation (const std::shared_ptr< View > &view_ptr, const ::bsfm::Feature &feature, const ::bsfm::Descriptor &descriptor)

Private Attributes
ViewIndex	view_index_

LandmarkIndex	landmark_index_

bool	is_matched_

bool	is_incorporated_

::bsfm::Feature	feature_

::bsfm::Descriptor	descriptor_

Detailed Description

Definition at line 63 of file observation.h.

Member Typedef Documentation

typedef std::shared_ptr<const Observation> bsfm::Observation::ConstPtr

Definition at line 66 of file observation.h.

typedef std::shared_ptr<Observation> bsfm::Observation::Ptr

Definition at line 65 of file observation.h.

Constructor & Destructor Documentation

bsfm::Observation::~Observation ( )

Definition at line 54 of file observation.cpp.

54 {}

bsfm::Observation::Observation ( )

private

bsfm::Observation::Observation	(	const std::shared_ptr< View > &	view_ptr,
		const ::bsfm::Feature &	feature,
		const ::bsfm::Descriptor &	descriptor
	)

private

Member Function Documentation

Observation::Ptr bsfm::Observation::Create	(	const std::shared_ptr< View > &	view_ptr,
		const ::bsfm::Feature &	feature,
		const ::bsfm::Descriptor &	descriptor
	)

static

Definition at line 46 of file observation.cpp.

                                                                        {
   Observation::Ptr observation(new Observation(view_ptr, feature, descriptor));
   view_ptr->AddObservation(observation);
   return observation;
 }

const ::bsfm::Descriptor & bsfm::Observation::Descriptor ( ) const

Definition at line 115 of file observation.cpp.

                                                     {
   return descriptor_;
 }

const ::bsfm::Feature & bsfm::Observation::Feature ( ) const

Definition at line 110 of file observation.cpp.

                                               {
   return feature_;
 }

Landmark::Ptr bsfm::Observation::GetLandmark ( ) const

Definition at line 70 of file observation.cpp.

                                            {
   if (landmark_index_ == kInvalidLandmark) {
     LOG(WARNING) << "Landmark index is invalid. Returning a null pointer.";
     return Landmark::Ptr();
   }
 
   Landmark::Ptr landmark = Landmark::GetLandmark(landmark_index_);
   CHECK_NOTNULL(landmark.get());
   return landmark;
 }

std::shared_ptr< View > bsfm::Observation::GetView ( ) const

Definition at line 57 of file observation.cpp.

                                                {
   if (view_index_ == kInvalidView) {
     LOG(WARNING) << "View index is invalid. Returning a null pointer.";
     return View::Ptr();
   }
 
   View::Ptr view = View::GetView(view_index_);
   CHECK_NOTNULL(view.get());
   return view;
 }

bool bsfm::Observation::IsIncorporated ( ) const

Definition at line 105 of file observation.cpp.

                                        {
   return is_incorporated_;
 }

bool bsfm::Observation::IsMatched ( ) const

Definition at line 91 of file observation.cpp.

                                   {
   return is_matched_;
 }

void bsfm::Observation::SetIncorporatedLandmark ( LandmarkIndex landmark_index )

Definition at line 97 of file observation.cpp.

                                                                       {
   CHECK_NE(kInvalidLandmark, landmark_index);
   landmark_index_ = landmark_index;
   is_matched_ = true;
   is_incorporated_ = true;
 }

void bsfm::Observation::SetMatchedLandmark ( LandmarkIndex landmark_index )

Definition at line 83 of file observation.cpp.

                                                                  {
   CHECK_NE(kInvalidLandmark, landmark_index);
   landmark_index_ = landmark_index;
   is_matched_ = true;
 }

Member Data Documentation

::bsfm::Descriptor bsfm::Observation::descriptor_

private

Definition at line 138 of file observation.h.

::bsfm::Feature bsfm::Observation::feature_

private

Definition at line 135 of file observation.h.

bool bsfm::Observation::is_incorporated_

private

Definition at line 132 of file observation.h.

bool bsfm::Observation::is_matched_

private

Definition at line 127 of file observation.h.

LandmarkIndex bsfm::Observation::landmark_index_

private

Definition at line 123 of file observation.h.

ViewIndex bsfm::Observation::view_index_

private

Definition at line 119 of file observation.h.

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

/Users/eanelson/Git/berkeley_sfm/src/cpp/slam/observation.h
/Users/eanelson/Git/berkeley_sfm/src/cpp/slam/observation.cpp

Public Types

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation