From 5a7a8e0fe6923c4323aadf9951c44f06fe0906d2 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Wed, 29 Mar 2017 14:21:37 -0500
Subject: Remove feature type from Feature class

It makes sense to decouple the measurement type, referred to as feature
type or fType from the Feature class since a feature can be measured in
different ways throughout its lifetime. Better to keep knowledge of the
measurement type in the State class.
---
 src/feature.h | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

(limited to 'src/feature.h')

diff --git a/src/feature.h b/src/feature.h
index e9d1060..29c8098 100644
--- a/src/feature.h
+++ b/src/feature.h
@@ -8,8 +8,8 @@
 #define VIEW_NOISE 1e-3             /*  */
 #define INITIAL_VIEW_NOISE 1e-3            /*  */
 #define REFLECTION_VIEW_NOISE 1e-2            /*  */
-#define FEATURECOVX 1e-4            /*  */
-#define FEATURECOVY 1e-4            /*  */
+#define FEATURECOVX 5e-5            /*  */
+#define FEATURECOVY 5e-5            /*  */
 #define FEATURECOVRHO 5e-3            /*  */
 #define FEATURECOVRHO_MONO 0.5            /*  */
 #define RHO_0 1./10.            /*  */
@@ -42,7 +42,7 @@ class Feature
 
         /* ====================  ACCESSORS     ======================================= */
         int id();
-        Matrix<double,3,3> P0();
+        Matrix<double,3,3> P0(measurement_type t);
         UTM utm(Vector3d &xbw, Quaterniond &q); 
 
         /* ====================  MUTATORS      ======================================= */
@@ -56,15 +56,16 @@ class Feature
                 const Vector3d &xr);
         Matrix<double,3,9> Fx( double dt );
         Matrix<double,3,3> Fy( const Vector3d &vel, const Vector3d &ang, double dt);
-        Matrix<double,Dynamic,9,0,6,9> Hx( const Vector3d &pos, const Quaterniond &q);
-        Matrix<double,Dynamic,3,0,6,3> Hy( const Vector3d &pos, const Quaterniond &q);
-        Matrix<double,Dynamic,1,0,6,1> h( const Vector3d &x, const Quaterniond &q);
+        Matrix<double,6,9> Hx( const Vector3d &pos, const Quaterniond &q);
+        Matrix<double,6,3> Hy( const Vector3d &pos, const Quaterniond &q);
+        Matrix<double,6,1> h( const Vector3d &x, const Quaterniond &q);
         Matrix<double,3,6> L();
-        Matrix<double,Dynamic,1,0,6,1> measurement_vector(const Vector3d &xs, const Vector3d &xr);
+        Matrix<double,6,1> measurement_vector(const Vector3d &xs, const Vector3d &xr);
+        Matrix<double,4,1> measurement_vector( const Vector3d &xs );
 
         Matrix<double,3,3> Q(const double dt);
-        Matrix<double,Dynamic,Dynamic,0,6,6> R();
-        Matrix<double,Dynamic,Dynamic,0,6,6> S ( const Matrix<double,9,9> &Pxx, 
+        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);
@@ -84,7 +85,6 @@ class Feature
         Vector3d X0;
         Quaterniond q0;
         Vector3d xb0w;
-        measurement_type fType;
 
 }; /* -----  end of class Feature  ----- */
 
-- 
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