MRPT  1.9.9
mrpt::maps::CRandomFieldGridMap2D::TObservationGMRF Struct Reference

Detailed Description

Definition at line 526 of file CRandomFieldGridMap2D.h.

#include <mrpt/maps/CRandomFieldGridMap2D.h>

Inheritance diagram for mrpt::maps::CRandomFieldGridMap2D::TObservationGMRF:

Public Member Functions

double evaluateResidual () const override
 Return the residual/error of this observation. More...
 
double getInformation () const override
 Return the inverse of the variance of this constraint. More...
 
void evalJacobian (double &dr_dx) const override
 Returns the derivative of the residual wrt the node value. More...
 
 TObservationGMRF (CRandomFieldGridMap2D &parent)
 

Public Attributes

double obsValue
 Observation value. More...
 
double Lambda
 "Information" of the observation (=inverse of the variance) More...
 
bool time_invariant
 whether the observation will lose weight (lambda) as time goes on (default false) More...
 
size_t node_id
 

Private Attributes

CRandomFieldGridMap2Dm_parent
 

Constructor & Destructor Documentation

◆ TObservationGMRF()

mrpt::maps::CRandomFieldGridMap2D::TObservationGMRF::TObservationGMRF ( CRandomFieldGridMap2D parent)
inline

Definition at line 541 of file CRandomFieldGridMap2D.h.

Member Function Documentation

◆ evalJacobian()

void CRandomFieldGridMap2D::TObservationGMRF::evalJacobian ( double &  dr_dx) const
overridevirtual

Returns the derivative of the residual wrt the node value.

Implements mrpt::graphs::ScalarFactorGraph::UnaryFactorVirtualBase.

Definition at line 2722 of file CRandomFieldGridMap2D.cpp.

◆ evaluateResidual()

double CRandomFieldGridMap2D::TObservationGMRF::evaluateResidual ( ) const
overridevirtual

Return the residual/error of this observation.

Implements mrpt::graphs::ScalarFactorGraph::FactorBase.

Definition at line 2714 of file CRandomFieldGridMap2D.cpp.

◆ getInformation()

double CRandomFieldGridMap2D::TObservationGMRF::getInformation ( ) const
overridevirtual

Return the inverse of the variance of this constraint.

Implements mrpt::graphs::ScalarFactorGraph::FactorBase.

Definition at line 2718 of file CRandomFieldGridMap2D.cpp.

Member Data Documentation

◆ Lambda

double mrpt::maps::CRandomFieldGridMap2D::TObservationGMRF::Lambda

"Information" of the observation (=inverse of the variance)

Definition at line 532 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_GMRF(), and mrpt::maps::CRandomFieldGridMap2D::internal_clear().

◆ m_parent

CRandomFieldGridMap2D* mrpt::maps::CRandomFieldGridMap2D::TObservationGMRF::m_parent
private

Definition at line 547 of file CRandomFieldGridMap2D.h.

◆ node_id

size_t mrpt::graphs::ScalarFactorGraph::UnaryFactorVirtualBase::node_id
inherited

◆ obsValue

double mrpt::maps::CRandomFieldGridMap2D::TObservationGMRF::obsValue

◆ time_invariant

bool mrpt::maps::CRandomFieldGridMap2D::TObservationGMRF::time_invariant

whether the observation will lose weight (lambda) as time goes on (default false)

Definition at line 535 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_GMRF(), and mrpt::maps::CRandomFieldGridMap2D::internal_clear().




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