diff options
Diffstat (limited to 'src/feature.h')
| -rw-r--r-- | src/feature.h | 10 |
1 files changed, 7 insertions, 3 deletions
diff --git a/src/feature.h b/src/feature.h index fc8fe2f..eb3e5bd 100644 --- a/src/feature.h +++ b/src/feature.h @@ -18,9 +18,12 @@ class Feature { public: /* ==================== LIFECYCLE ======================================= */ - Feature (const Vector3d &pib, const Vector3d &xbw, const Quaterniond q ); /* constructor */ + Feature (); + Feature ( int id, const Vector3d &xib, const Vector3d &xpb, const Vector3d &xbw, const Quaterniond &q ); /* constructor */ /* ==================== ACCESSORS ======================================= */ + int id(); + Matrix<double,3,3> P0(); /* ==================== MUTATORS ======================================= */ void motionModel ( const Vector3d &ang, const Vector3d &vel, const double dt); @@ -37,6 +40,8 @@ class Feature Matrix<double,6,6> R(); Matrix<double,6,6> S ( const Matrix<double,9,9> &Pxx, const Matrix<double,9,3> &Pxy, const Matrix<double,3,3> &Pyy, const Vector3d &pos, const Quaterniond &q); + Vector3d p2x(const Vector3d &p); + Vector3d x2p(const Vector3d &x); protected: /* ==================== METHODS ======================================= */ @@ -45,10 +50,9 @@ class Feature private: /* ==================== METHODS ======================================= */ - Vector3d p2x(const Vector3d &p); - Vector3d x2p(const Vector3d &x); /* ==================== DATA MEMBERS ======================================= */ + int _id; Vector3d X; Quaterniond q0; Vector3d xb0w; |