ov_type::Vec class

Derived Type class that implements vector variables.

Contents

Base classes

class Type
Base class for estimated variables.

Derived classes

class Landmark
Type that implements a persistent SLAM feature.

Constructors, destructors, conversion operators

Vec(int dim)
Default constructor for Vec.

Public functions

void update(const Eigen::VectorXd& dx) override
Implements the update operation through standard vector addition.
auto clone() -> std::shared_ptr<Type> override
Performs all the cloning.

Function documentation

ov_type::Vec::Vec(int dim)

Default constructor for Vec.

Parameters
dim Size of the vector (will be same as error state)

void ov_type::Vec::update(const Eigen::VectorXd& dx) override

Implements the update operation through standard vector addition.

Parameters
dx Additive error state correction
\begin{align*} \mathbf{v} &= \hat{\mathbf{v}} + \tilde{\mathbf{v}}_{dx} \end{align*}