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<a href="#pub-types">Public Types</a> |
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<div class="title">mrpt::slam::CLandmark Class Reference<div class="ingroups"><a class="el" href="group__mrpt__vision__grp.html">[mrpt-vision]</a></div></div> </div>
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<!-- doxytag: class="mrpt::slam::CLandmark" --><!-- doxytag: inherits="mrpt::utils::CSerializable" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>The class for storing "landmarks" (visual or laser-scan-extracted features,...) </p>
<p>The descriptors for each kind of descriptor are stored in the vector "features", which will typically consists of only 1 element, or 2 elements for landmarks obtained from stereo images.</p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html" title="A class for storing a map of 3D probabilistic landmarks.">CLandmarksMap</a> </dd></dl>
</div>
<p><code>#include <<a class="el" href="_c_landmark_8h_source.html">mrpt/slam/CLandmark.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::slam::CLandmark:</div>
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<div class="center"><img src="classmrpt_1_1slam_1_1_c_landmark__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_landmark_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1slam_1_1_c_landmark_inherit__map" id="mrpt_1_1slam_1_1_c_landmark_inherit__map">
<area shape="rect" id="node2" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT..." alt="" coords="4,80,168,107"/><area shape="rect" id="node4" href="classmrpt_1_1utils_1_1_c_object.html" title="The virtual base class of all MRPT classes with a unified RTTI system." alt="" coords="19,5,153,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1slam_1_1_c_landmark-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef int64_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a7d42fbd58a31278cb344b78ce8af3cf9">TLandmarkID</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The type for the IDs of landmarks. <a href="#a7d42fbd58a31278cb344b78ce8af3cf9"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a2fa3a6803af72ef400ab5593fcde5e9a">getPose</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html">CPointPDFGaussian</a> &p) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the pose as an object: <a href="#a2fa3a6803af72ef400ab5593fcde5e9a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a942d5314992466299ab50a7cdec1d106">getPose</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> &p, <a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">CMatrixDouble</a> &COV) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#aa23138e548a516de4a0f37107890a004">setPose</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html">CPointPDFGaussian</a> &p)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the pose from an object: <a href="#aa23138e548a516de4a0f37107890a004"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__mrpt__vision__grp.html#ga3a5b54ab814bafc8bb108e37bbee4e19">TFeatureType</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a73fd329cc12ba97ed0c479293fef870d">getType</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the type of the first feature in its feature vector. <a href="#a73fd329cc12ba97ed0c479293fef870d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a6f1e37377de17622d969f95a322dd998">createOneFeature</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Creates one feature in the vector "features", calling the appropriate constructor of the smart pointer, so after calling this method "features[0]" is a valid pointer to a CFeature object. <a href="#a6f1e37377de17622d969f95a322dd998"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a3b41e0a504fa948ceb5f429a6eaece6b">CLandmark</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default constructor. <a href="#a3b41e0a504fa948ceb5f429a6eaece6b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#acd0a9fa9e1f6bf01e6523abdd6ca3fec">~CLandmark</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Virtual destructor. <a href="#acd0a9fa9e1f6bf01e6523abdd6ca3fec"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_object_ptr.html">mrpt::utils::CObjectPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#a534695890364f4b916bba07dad311bcf">duplicateGetSmartPtr</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). <a href="#a534695890364f4b916bba07dad311bcf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html">CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#a9ef7857a0b36059c078e195a0a65ac00">clone</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Cloning interface for smart pointers. <a href="#a9ef7857a0b36059c078e195a0a65ac00"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="structmrpt_1_1vision_1_1_c_feature_ptr.html">CFeaturePtr</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#aaf60c0d04f3df38a017333012e8c8666">features</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The set of features from which the landmark comes. <a href="#aaf60c0d04f3df38a017333012e8c8666"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#adcda0db4f987dd2ad21caf2bd4e2e0e3">pose_mean</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The mean of the landmark 3D position. <a href="#adcda0db4f987dd2ad21caf2bd4e2e0e3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a2f2cf7f4f2c6b06063593c848b53f032">normal</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The "normal" to the landmark, i.e. a unitary 3D vector towards the viewing direction, or a null vector if not applicable. <a href="#a2f2cf7f4f2c6b06063593c848b53f032"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a9b8212145ce95223f6cc00a2110cde7f">pose_cov_11</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#aae3c59d00b8aedf5212096b62e0bc142">pose_cov_22</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#aeb5e1fb51c23a3cf57a0affb4a704257">pose_cov_33</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a4145ede58003df03bbd1a3e96ee3806d">pose_cov_12</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#aa80d38f04ccceaecba1aa7f41d52af2e">pose_cov_13</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a321977d7c70de937cb47bbf6806c95bd">pose_cov_23</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a7d42fbd58a31278cb344b78ce8af3cf9">TLandmarkID</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#aa1d301b53ca660ad01bf8fa2023f8a89">ID</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">An ID for the landmark (see details next...) This ID was introduced in the version 3 of this class (21/NOV/2006), and its aim is to provide a way for easily establishing correspondences between landmarks detected in sequential image frames. <a href="#aa1d301b53ca660ad01bf8fa2023f8a89"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#ab950992ba42aaf426263a6362d520501">timestampLastSeen</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The last time that this landmark was observed. <a href="#ab950992ba42aaf426263a6362d520501"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint32_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a408088894d0ec9b3f62a95156baf45de">seenTimesCount</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The number of times that this landmark has been seen. <a href="#a408088894d0ec9b3f62a95156baf45de"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-attribs"></a>
Static Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#acb51e4dd811d62c2696aee449d0a4715">classCObject</a></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a0b6b801e67bca3d8e0d355e7035f8013">writeToStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &out, int *getVersion) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for writing to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. <a href="#a0b6b801e67bca3d8e0d355e7035f8013"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a73ba83035a64939cdc3aa1c0dfed23ec">readFromStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, int version)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for loading from a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. <a href="#a73ba83035a64939cdc3aa1c0dfed23ec"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-static-attribs"></a>
Static Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a7d42fbd58a31278cb344b78ce8af3cf9">TLandmarkID</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a6fd3002f1ef743c4d343e895a462ab5c">m_counterIDs</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Auxiliary variable. <a href="#a6fd3002f1ef743c4d343e895a462ab5c"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
RTTI stuff</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a28ec2a03d277a8469b8ecfc81892afdf">classCSerializable</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::utils::CStream</a></td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
RTTI stuff</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="structmrpt_1_1slam_1_1_c_landmark_ptr.html">CLandmarkPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a14718a8e9bc56f3855a7c732673fb013">SmartPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1utils_1_1_c_l_a_s_s_i_n_i_t.html">mrpt::utils::CLASSINIT</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a7c8356d3e556f46573ceda80fc57c89c">_init_CLandmark</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#abb2195b1a3f81cf0533e28ba2cff3e6a">classCLandmark</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a5096c02c86305525539af20e330ec17c">classinfo</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#aa2820ad5785a684a15bf79a8946ddac7">_GetBaseClass</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a29bb91eb4ee7d4b6c8bcc2b808a355cb">GetRuntimeClass</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns information about the class of an object in runtime. <a href="#a29bb91eb4ee7d4b6c8bcc2b808a355cb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a75becf8cf9a5879930d55afddada8e8a">duplicate</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a copy of the object, indepently of its class. <a href="#a75becf8cf9a5879930d55afddada8e8a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a4a54c398a8a7f7242ee4cfa7b873e909">CreateObject</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1slam_1_1_c_landmark_ptr.html">CLandmarkPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#af73ead6ee2e6e586ecc6f80b84d0ef4f">Create</a> ()</td></tr>
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<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="a14718a8e9bc56f3855a7c732673fb013"></a><!-- doxytag: member="mrpt::slam::CLandmark::SmartPtr" ref="a14718a8e9bc56f3855a7c732673fb013" args="" -->
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<td class="memname">typedef <a class="el" href="structmrpt_1_1slam_1_1_c_landmark_ptr.html">CLandmarkPtr</a> <a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a14718a8e9bc56f3855a7c732673fb013">mrpt::slam::CLandmark::SmartPtr</a></td>
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<p>A typedef for the associated smart pointer </p>
<p>Definition at line <a class="el" href="_c_landmark_8h_source.html#l00062">62</a> of file <a class="el" href="_c_landmark_8h_source.html">CLandmark.h</a>.</p>
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<a class="anchor" id="a7d42fbd58a31278cb344b78ce8af3cf9"></a><!-- doxytag: member="mrpt::slam::CLandmark::TLandmarkID" ref="a7d42fbd58a31278cb344b78ce8af3cf9" args="" -->
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<td class="memname">typedef int64_t <a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a7d42fbd58a31278cb344b78ce8af3cf9">mrpt::slam::CLandmark::TLandmarkID</a></td>
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<p>The type for the IDs of landmarks. </p>
<p>Definition at line <a class="el" href="_c_landmark_8h_source.html#l00065">65</a> of file <a class="el" href="_c_landmark_8h_source.html">CLandmark.h</a>.</p>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a3b41e0a504fa948ceb5f429a6eaece6b"></a><!-- doxytag: member="mrpt::slam::CLandmark::CLandmark" ref="a3b41e0a504fa948ceb5f429a6eaece6b" args="()" -->
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<td class="memname">mrpt::slam::CLandmark::CLandmark </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
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<p>Default constructor. </p>
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<a class="anchor" id="acd0a9fa9e1f6bf01e6523abdd6ca3fec"></a><!-- doxytag: member="mrpt::slam::CLandmark::~CLandmark" ref="acd0a9fa9e1f6bf01e6523abdd6ca3fec" args="()" -->
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<td class="memname">virtual mrpt::slam::CLandmark::~CLandmark </td>
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<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
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<p>Virtual destructor. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="aa2820ad5785a684a15bf79a8946ddac7"></a><!-- doxytag: member="mrpt::slam::CLandmark::_GetBaseClass" ref="aa2820ad5785a684a15bf79a8946ddac7" args="()" -->
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<td class="memname">static const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* mrpt::slam::CLandmark::_GetBaseClass </td>
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<td class="paramname"></td><td>)</td>
<td><code> [static, protected]</code></td>
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<p>Reimplemented from <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a471a2d4e8bf14cdc749d43ffb8066a12">mrpt::utils::CSerializable</a>.</p>
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<a class="anchor" id="a9ef7857a0b36059c078e195a0a65ac00"></a><!-- doxytag: member="mrpt::slam::CLandmark::clone" ref="a9ef7857a0b36059c078e195a0a65ac00" args="() const " -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html">CObject</a>* mrpt::utils::CObject::clone </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<p>Cloning interface for smart pointers. </p>
<p>Reimplemented in <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable.html#acb2597d6d93b406501d9f3530eb56adf">mrpt::opengl::CRenderizable</a>, and <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html#ac164cb1d2cf682778ce52967cbd56469">mrpt::opengl::CRenderizableDisplayList</a>.</p>
<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00154">154</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<a class="anchor" id="af73ead6ee2e6e586ecc6f80b84d0ef4f"></a><!-- doxytag: member="mrpt::slam::CLandmark::Create" ref="af73ead6ee2e6e586ecc6f80b84d0ef4f" args="()" -->
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<td class="memname">static <a class="el" href="structmrpt_1_1slam_1_1_c_landmark_ptr.html">CLandmarkPtr</a> mrpt::slam::CLandmark::Create </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [static]</code></td>
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<a class="anchor" id="a4a54c398a8a7f7242ee4cfa7b873e909"></a><!-- doxytag: member="mrpt::slam::CLandmark::CreateObject" ref="a4a54c398a8a7f7242ee4cfa7b873e909" args="()" -->
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<td class="memname">static <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a>* mrpt::slam::CLandmark::CreateObject </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [static]</code></td>
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<a class="anchor" id="a6f1e37377de17622d969f95a322dd998"></a><!-- doxytag: member="mrpt::slam::CLandmark::createOneFeature" ref="a6f1e37377de17622d969f95a322dd998" args="()" -->
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<td class="memname">void mrpt::slam::CLandmark::createOneFeature </td>
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<td><code> [inline]</code></td>
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<p>Creates one feature in the vector "features", calling the appropriate constructor of the smart pointer, so after calling this method "features[0]" is a valid pointer to a CFeature object. </p>
<p>Definition at line <a class="el" href="_c_landmark_8h_source.html#l00108">108</a> of file <a class="el" href="_c_landmark_8h_source.html">CLandmark.h</a>.</p>
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<a class="anchor" id="a75becf8cf9a5879930d55afddada8e8a"></a><!-- doxytag: member="mrpt::slam::CLandmark::duplicate" ref="a75becf8cf9a5879930d55afddada8e8a" args="() const " -->
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<td class="memname">virtual <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a>* mrpt::slam::CLandmark::duplicate </td>
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<p>Returns a copy of the object, indepently of its class. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_object.html#aa1070e173c5f7e307b09c53f1fd256e2">mrpt::utils::CObject</a>.</p>
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<a class="anchor" id="a534695890364f4b916bba07dad311bcf"></a><!-- doxytag: member="mrpt::slam::CLandmark::duplicateGetSmartPtr" ref="a534695890364f4b916bba07dad311bcf" args="() const " -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_object_ptr.html">mrpt::utils::CObjectPtr</a> mrpt::utils::CObject::duplicateGetSmartPtr </td>
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<p>Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). </p>
<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00151">151</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<a class="anchor" id="a2fa3a6803af72ef400ab5593fcde5e9a"></a><!-- doxytag: member="mrpt::slam::CLandmark::getPose" ref="a2fa3a6803af72ef400ab5593fcde5e9a" args="(CPointPDFGaussian &p) const " -->
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<td class="memname">void mrpt::slam::CLandmark::getPose </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html">CPointPDFGaussian</a> & </td>
<td class="paramname"><em>p</em></td><td>)</td>
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<p>Returns the pose as an object: </p>
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<a class="anchor" id="a942d5314992466299ab50a7cdec1d106"></a><!-- doxytag: member="mrpt::slam::CLandmark::getPose" ref="a942d5314992466299ab50a7cdec1d106" args="(CPoint3D &p, CMatrixDouble &COV) const " -->
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<td class="memname">void mrpt::slam::CLandmark::getPose </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> & </td>
<td class="paramname"><em>p</em>, </td>
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<td class="paramtype"><a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">CMatrixDouble</a> & </td>
<td class="paramname"><em>COV</em> </td>
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<p>Definition at line <a class="el" href="_c_landmark_8h_source.html#l00090">90</a> of file <a class="el" href="_c_landmark_8h_source.html">CLandmark.h</a>.</p>
<p>References <a class="el" href="_c_point_p_d_f_gaussian_8h_source.html#l00067">mrpt::poses::CPointPDFGaussian::mean</a>, and <a class="el" href="_c_point_p_d_f_gaussian_8h_source.html#l00071">mrpt::poses::CPointPDFGaussian::cov</a>.</p>
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<a class="anchor" id="a29bb91eb4ee7d4b6c8bcc2b808a355cb"></a><!-- doxytag: member="mrpt::slam::CLandmark::GetRuntimeClass" ref="a29bb91eb4ee7d4b6c8bcc2b808a355cb" args="() const " -->
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<td class="memname">virtual const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* mrpt::slam::CLandmark::GetRuntimeClass </td>
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<td> const<code> [virtual]</code></td>
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<p>Returns information about the class of an object in runtime. </p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a6861b16159daafd1651d6e0d27f39c58">mrpt::utils::CSerializable</a>.</p>
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<a class="anchor" id="a73fd329cc12ba97ed0c479293fef870d"></a><!-- doxytag: member="mrpt::slam::CLandmark::getType" ref="a73fd329cc12ba97ed0c479293fef870d" args="() const " -->
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<td class="memname"><a class="el" href="group__mrpt__vision__grp.html#ga3a5b54ab814bafc8bb108e37bbee4e19">TFeatureType</a> mrpt::slam::CLandmark::getType </td>
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<td> const<code> [inline]</code></td>
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<p>Gets the type of the first feature in its feature vector. </p>
<p>The vector must not be empty. </p>
<p>Definition at line <a class="el" href="_c_landmark_8h_source.html#l00103">103</a> of file <a class="el" href="_c_landmark_8h_source.html">CLandmark.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00282">ASSERT_</a>.</p>
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<a class="anchor" id="a73ba83035a64939cdc3aa1c0dfed23ec"></a><!-- doxytag: member="mrpt::slam::CLandmark::readFromStream" ref="a73ba83035a64939cdc3aa1c0dfed23ec" args="(mrpt::utils::CStream &in, int version)=0" -->
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<td class="memname">virtual void mrpt::utils::CSerializable::readFromStream </td>
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<td class="paramname"><em>version</em> </td>
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<td>)</td>
<td></td><td><code> [protected, pure virtual, inherited]</code></td>
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<p>Introduces a pure virtual method responsible for loading from a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">in</td><td>The input binary stream where the object data must read from. </td></tr>
<tr><td class="paramname">version</td><td>The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. </td></tr>
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</dd>
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<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1b8cd3d084b5a95a3f65c6eed6e7cc6d" title="Reads a block of bytes from the stream into Buffer On any error, or if ZERO bytes are read...">CStream::ReadBuffer</a> </td></tr>
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<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#a0194e57ec48c1dfc6aa00c23d3409143">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a12db95e8c32d48d2d2483936dec516a7">mrpt::math::CMatrix</a>.</p>
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<a class="anchor" id="aa23138e548a516de4a0f37107890a004"></a><!-- doxytag: member="mrpt::slam::CLandmark::setPose" ref="aa23138e548a516de4a0f37107890a004" args="(const CPointPDFGaussian &p)" -->
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<td class="memname">void mrpt::slam::CLandmark::setPose </td>
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<p>Sets the pose from an object: </p>
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<a class="anchor" id="a0b6b801e67bca3d8e0d355e7035f8013"></a><!-- doxytag: member="mrpt::slam::CLandmark::writeToStream" ref="a0b6b801e67bca3d8e0d355e7035f8013" args="(mrpt::utils::CStream &out, int *getVersion) const =0" -->
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<td class="paramname"><em>out</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">int * </td>
<td class="paramname"><em>getVersion</em> </td>
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<td>)</td>
<td></td><td> const<code> [protected, pure virtual, inherited]</code></td>
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<p>Introduces a pure virtual method responsible for writing to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. </p>
<p>This can not be used directly be users, instead use "stream << object;" for writing it to a stream. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">out</td><td>The output binary stream where object must be dumped. </td></tr>
<tr><td class="paramname">getVersion</td><td>If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. </td></tr>
</table>
</dd>
</dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a276005e7110c9de74ff3277b3f7bf621" title="Writes a block of bytes to the stream from Buffer.">CStream::WriteBuffer</a> </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#a767e787b52208ab4dd46ba7f5e2fd224">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a059d7eaf80dab9c7435154146d2b7dbf">mrpt::math::CMatrix</a>.</p>
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<hr/><h2>Friends And Related Function Documentation</h2>
<a class="anchor" id="a6fec28a53e20dfc1c4d046c26f9f7b48"></a><!-- doxytag: member="mrpt::slam::CLandmark::mrpt::utils::CStream" ref="a6fec28a53e20dfc1c4d046c26f9f7b48" args="" -->
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<td class="memname">friend class <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a><code> [friend, inherited]</code></td>
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<p>Reimplemented in <a class="el" href="classmrpt_1_1slam_1_1_c_random_field_grid_map2_d.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CRandomFieldGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CPointsMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CObservation</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CMetricMap</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::opengl::CRenderizable</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPose3DQuatPDF</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPointPDF</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPose3DPDF</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPosePDF</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_point2_d_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPoint2DPDF</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::opengl::CRenderizableDisplayList</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_action.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CAction</a>, <a class="el" href="classmrpt_1_1detectors_1_1_c_detectable_object.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::detectors::CDetectableObject</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_textured_object.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::opengl::CTexturedObject</a>, and <a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_log_file_record.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::reactivenav::CHolonomicLogFileRecord</a>.</p>
<p>Definition at line <a class="el" href="_c_serializable_8h_source.html#l00056">56</a> of file <a class="el" href="_c_serializable_8h_source.html">CSerializable.h</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a7c8356d3e556f46573ceda80fc57c89c"></a><!-- doxytag: member="mrpt::slam::CLandmark::_init_CLandmark" ref="a7c8356d3e556f46573ceda80fc57c89c" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1utils_1_1_c_l_a_s_s_i_n_i_t.html">mrpt::utils::CLASSINIT</a> <a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a7c8356d3e556f46573ceda80fc57c89c">mrpt::slam::CLandmark::_init_CLandmark</a><code> [static, protected]</code></td>
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<p>Definition at line <a class="el" href="_c_landmark_8h_source.html#l00062">62</a> of file <a class="el" href="_c_landmark_8h_source.html">CLandmark.h</a>.</p>
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<a class="anchor" id="abb2195b1a3f81cf0533e28ba2cff3e6a"></a><!-- doxytag: member="mrpt::slam::CLandmark::classCLandmark" ref="abb2195b1a3f81cf0533e28ba2cff3e6a" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#abb2195b1a3f81cf0533e28ba2cff3e6a">mrpt::slam::CLandmark::classCLandmark</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_landmark_8h_source.html#l00062">62</a> of file <a class="el" href="_c_landmark_8h_source.html">CLandmark.h</a>.</p>
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<a class="anchor" id="acb51e4dd811d62c2696aee449d0a4715"></a><!-- doxytag: member="mrpt::slam::CLandmark::classCObject" ref="acb51e4dd811d62c2696aee449d0a4715" args="" -->
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<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1utils_1_1_c_object.html#acb51e4dd811d62c2696aee449d0a4715">mrpt::utils::CObject::classCObject</a><code> [static, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00139">139</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<a class="anchor" id="a28ec2a03d277a8469b8ecfc81892afdf"></a><!-- doxytag: member="mrpt::slam::CLandmark::classCSerializable" ref="a28ec2a03d277a8469b8ecfc81892afdf" args="" -->
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<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a28ec2a03d277a8469b8ecfc81892afdf">mrpt::utils::CSerializable::classCSerializable</a><code> [static, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_serializable_8h_source.html#l00056">56</a> of file <a class="el" href="_c_serializable_8h_source.html">CSerializable.h</a>.</p>
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<a class="anchor" id="a5096c02c86305525539af20e330ec17c"></a><!-- doxytag: member="mrpt::slam::CLandmark::classinfo" ref="a5096c02c86305525539af20e330ec17c" args="" -->
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<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* <a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a5096c02c86305525539af20e330ec17c">mrpt::slam::CLandmark::classinfo</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_landmark_8h_source.html#l00062">62</a> of file <a class="el" href="_c_landmark_8h_source.html">CLandmark.h</a>.</p>
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<a class="anchor" id="aaf60c0d04f3df38a017333012e8c8666"></a><!-- doxytag: member="mrpt::slam::CLandmark::features" ref="aaf60c0d04f3df38a017333012e8c8666" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><<a class="el" href="structmrpt_1_1vision_1_1_c_feature_ptr.html">CFeaturePtr</a>> <a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#aaf60c0d04f3df38a017333012e8c8666">mrpt::slam::CLandmark::features</a></td>
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<p>The set of features from which the landmark comes. </p>
<p>Definition at line <a class="el" href="_c_landmark_8h_source.html#l00067">67</a> of file <a class="el" href="_c_landmark_8h_source.html">CLandmark.h</a>.</p>
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<a class="anchor" id="aa1d301b53ca660ad01bf8fa2023f8a89"></a><!-- doxytag: member="mrpt::slam::CLandmark::ID" ref="aa1d301b53ca660ad01bf8fa2023f8a89" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a7d42fbd58a31278cb344b78ce8af3cf9">TLandmarkID</a> <a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#aa1d301b53ca660ad01bf8fa2023f8a89">mrpt::slam::CLandmark::ID</a></td>
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<p>An ID for the landmark (see details next...) This ID was introduced in the version 3 of this class (21/NOV/2006), and its aim is to provide a way for easily establishing correspondences between landmarks detected in sequential image frames. </p>
<p>Thus, the management of this field should be:</p>
<ul>
<li>In 'servers' (classes/modules/... that detect landmarks from images): A different ID must be assigned to every landmark (e.g. a sequential counter), BUT only in the case of being sure of the correspondence of one landmark with another one in the past (e.g. tracking).</li>
<li>In 'clients': This field can be ignored, but if it is used, the advantage is solving the correspondence between landmarks detected in consequentive instants of time: Two landmarks with the same ID <b>correspond</b> to the same physical feature, BUT it should not be expected the inverse to be always true.</li>
</ul>
<p>Note that this field is never fill out automatically, it must be set by the programmer if used. </p>
<p>Definition at line <a class="el" href="_c_landmark_8h_source.html#l00082">82</a> of file <a class="el" href="_c_landmark_8h_source.html">CLandmark.h</a>.</p>
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<a class="anchor" id="a6fd3002f1ef743c4d343e895a462ab5c"></a><!-- doxytag: member="mrpt::slam::CLandmark::m_counterIDs" ref="a6fd3002f1ef743c4d343e895a462ab5c" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a7d42fbd58a31278cb344b78ce8af3cf9">TLandmarkID</a> <a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a6fd3002f1ef743c4d343e895a462ab5c">mrpt::slam::CLandmark::m_counterIDs</a><code> [static, protected]</code></td>
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<p>Auxiliary variable. </p>
<p>Definition at line <a class="el" href="_c_landmark_8h_source.html#l00122">122</a> of file <a class="el" href="_c_landmark_8h_source.html">CLandmark.h</a>.</p>
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<a class="anchor" id="a2f2cf7f4f2c6b06063593c848b53f032"></a><!-- doxytag: member="mrpt::slam::CLandmark::normal" ref="a2f2cf7f4f2c6b06063593c848b53f032" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> <a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a2f2cf7f4f2c6b06063593c848b53f032">mrpt::slam::CLandmark::normal</a></td>
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<p>The "normal" to the landmark, i.e. a unitary 3D vector towards the viewing direction, or a null vector if not applicable. </p>
<p>Definition at line <a class="el" href="_c_landmark_8h_source.html#l00070">70</a> of file <a class="el" href="_c_landmark_8h_source.html">CLandmark.h</a>.</p>
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<td class="memname">float <a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a9b8212145ce95223f6cc00a2110cde7f">mrpt::slam::CLandmark::pose_cov_11</a></td>
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<p>Definition at line <a class="el" href="_c_landmark_8h_source.html#l00071">71</a> of file <a class="el" href="_c_landmark_8h_source.html">CLandmark.h</a>.</p>
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<p>Definition at line <a class="el" href="_c_landmark_8h_source.html#l00071">71</a> of file <a class="el" href="_c_landmark_8h_source.html">CLandmark.h</a>.</p>
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<td class="memname">float <a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#aa80d38f04ccceaecba1aa7f41d52af2e">mrpt::slam::CLandmark::pose_cov_13</a></td>
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<p>Definition at line <a class="el" href="_c_landmark_8h_source.html#l00071">71</a> of file <a class="el" href="_c_landmark_8h_source.html">CLandmark.h</a>.</p>
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<p>Definition at line <a class="el" href="_c_landmark_8h_source.html#l00071">71</a> of file <a class="el" href="_c_landmark_8h_source.html">CLandmark.h</a>.</p>
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<p>Definition at line <a class="el" href="_c_landmark_8h_source.html#l00071">71</a> of file <a class="el" href="_c_landmark_8h_source.html">CLandmark.h</a>.</p>
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<p>Definition at line <a class="el" href="_c_landmark_8h_source.html#l00071">71</a> of file <a class="el" href="_c_landmark_8h_source.html">CLandmark.h</a>.</p>
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<td class="memname"><a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> <a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#adcda0db4f987dd2ad21caf2bd4e2e0e3">mrpt::slam::CLandmark::pose_mean</a></td>
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<p>The mean of the landmark 3D position. </p>
<p>Definition at line <a class="el" href="_c_landmark_8h_source.html#l00069">69</a> of file <a class="el" href="_c_landmark_8h_source.html">CLandmark.h</a>.</p>
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<td class="memname">uint32_t <a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a408088894d0ec9b3f62a95156baf45de">mrpt::slam::CLandmark::seenTimesCount</a></td>
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<p>The number of times that this landmark has been seen. </p>
<p>Definition at line <a class="el" href="_c_landmark_8h_source.html#l00084">84</a> of file <a class="el" href="_c_landmark_8h_source.html">CLandmark.h</a>.</p>
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<td class="memname"><a class="el" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a> <a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#ab950992ba42aaf426263a6362d520501">mrpt::slam::CLandmark::timestampLastSeen</a></td>
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<p>The last time that this landmark was observed. </p>
<p>Definition at line <a class="el" href="_c_landmark_8h_source.html#l00083">83</a> of file <a class="el" href="_c_landmark_8h_source.html">CLandmark.h</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
