msceqf::SystemState Class Reference

The SystemState class represent the state of the system posed on the Homogenous space. More...

#include <system.hpp>

Public Types
using	SystemStateKey = std::variant<SystemStateElementName, uint>
	Key to access the system state map.
using	SystemStateMap = std::unordered_map<SystemStateKey, SystemStateElementSharedPtr>
	System state map.
using	SystemStateAlgebraMap = std::unordered_map<SystemStateKey, VectorX>
	System state algebra map.

Public Member Functions
	SystemState ()=delete
	Deleted default constructor.
	SystemState (const StateOptions &opts, const SE23 &T0=SE23(), const Vector6 &b0=Vector6::Zero())
	Initialize a system state with given extended pose and bias (Identity and zero by default). Camera intrinsics and extrinsics are initialized from the given values in the options.
template<typename... Args>
	SystemState (const StateOptions &opts, Args &&... pairs_of_key_ptr)
	Construct system state given a multiple pairs of key-pointer of states element. This methods preallocate memory for the state_ map and insert the given pointers. Camera intrinsics and extrinsics are initialized from the given values in the options, passing pairs of key-pointer of camera intrinsics and extrinsics will overwrite the intrinsics and extrinsics initialized form the given options.
	SystemState (const SystemState &other)
	Rule of Five.
	SystemState (SystemState &&other) noexcept
SystemState &	operator= (const SystemState &other)
SystemState &	operator= (SystemState &&other) noexcept
const SE23 &	T () const
	return a constant reference to the extended pose element (R,v,p) of the system state as a SE23-torsor
const SE3	P () const
	return a copy of the pose element (R,p) of the system state as a SE3-torsor
const SE3	V () const
	return a copy of the pose element (R,v) of the system state as a SE3-torsor
const Vector6 &	b () const
	return a constant reference to the bias element of the system state as a vector
const SE3 &	S () const
	return a constant reference to the camera extrinsics element of the system state as a SE3-torsor. If the camera extrinsics are not estimated online then the fixed calibration value provided in the options is returned
const In &	K () const
	return a constant reference to the camera intrinsics element of the system state as a In-torsor If the camera intrinsics are not are not estimated online then the fixed calibration value provided in the options is returned
const Vector4	k () const
	return a copy of the camera intrinsics element of the system state as a 4-vector If the camera intrinsics are not are not estimated online then the fixed calibration value provided in the options is returned
const Vector3 &	f (const uint &feat_id) const
	return a constant reference to a persistent feature element of the system state as a vector, given the feature id
const Vector3	ge3 () const
	return a copy of g*e3 as a vector
const StateOptions &	opts () const
	Get the state options.

Static Public Member Functions
static std::string	toString (const SystemStateKey &key)
	Get a string describing the given SystemStateKey.

Friends
class	Symmetry
	Symmetry can access private members of SystemState.

Detailed Description

The SystemState class represent the state of the system posed on the Homogenous space.

Note

The system state has not to be confused with the MSCEqF state. The former is the state of the system posed on the homogenous space, while the latter is the state of the lifted system, in which the EqF is based on.

Constructor & Destructor Documentation

SystemState() [1/2]

msceqf::SystemState::SystemState	(	const StateOptions &	opts,
		const SE23 &	T0 = SE23(),
		const Vector6 &	b0 = Vector6::Zero() )

Initialize a system state with given extended pose and bias (Identity and zero by default). Camera intrinsics and extrinsics are initialized from the given values in the options.

Parameters

opts	State options
T0	Initial extended pose
b0	Initial bias

SystemState() [2/2]

template<typename... Args>

msceqf::SystemState::SystemState ( const StateOptions & opts, Args &&... pairs_of_key_ptr )

inline

Construct system state given a multiple pairs of key-pointer of states element. This methods preallocate memory for the state_ map and insert the given pointers. Camera intrinsics and extrinsics are initialized from the given values in the options, passing pairs of key-pointer of camera intrinsics and extrinsics will overwrite the intrinsics and extrinsics initialized form the given options.

Template Parameters

Args

Parameters

opts	State options
keys_args	Multiple pairs of key-ptr where each pointer is pointing to a state elements

Note

Examples of call:

1) SystemState(opts, pair(key1, ptr1), pair(key2, ptr2), pair(key3, ptr3))

2) SystemState(opts, pair(key1, ptr1), vector(pair(key2, ptr2), ..., pair(key10, ptr10)))

When the function is called with a vector of pairs, the vector of pairs is moved therefore after the call it contains only unusable pointers (nullptr).

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Member Function Documentation

b()

const Vector6 & msceqf::SystemState::b ( ) const

nodiscard

return a constant reference to the bias element of the system state as a vector

Returns

R6 vector representing the bias element of the system state

f()

const Vector3 & msceqf::SystemState::f ( const uint & feat_id ) const

nodiscard

return a constant reference to a persistent feature element of the system state as a vector, given the feature id

Parameters

feat_id

Id of the persistent feature

Returns

R3 vector representing the feature element of the system state

ge3()

const Vector3 msceqf::SystemState::ge3 ( ) const

nodiscard

return a copy of g*e3 as a vector

Returns

R3 vector representing the gravity vector in a gravity-aligned frame of reference

K()

const In & msceqf::SystemState::K ( ) const

nodiscard

return a constant reference to the camera intrinsics element of the system state as a In-torsor If the camera intrinsics are not are not estimated online then the fixed calibration value provided in the options is returned

Returns

Intrinsic element of the system state as a In-torsor representing the camera intrinsics

k()

const Vector4 msceqf::SystemState::k ( ) const

nodiscard

return a copy of the camera intrinsics element of the system state as a 4-vector If the camera intrinsics are not are not estimated online then the fixed calibration value provided in the options is returned

Returns

R4 vector representing the camera intrinsics

opts()

const StateOptions & msceqf::SystemState::opts ( ) const

inlinenodiscard

Get the state options.

Returns

State options

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P()

const SE3 msceqf::SystemState::P ( ) const

nodiscard

return a copy of the pose element (R,p) of the system state as a SE3-torsor

Returns

Pose element (R,p) of the system state as a SE3-torsor

S()

const SE3 & msceqf::SystemState::S ( ) const

nodiscard

return a constant reference to the camera extrinsics element of the system state as a SE3-torsor. If the camera extrinsics are not estimated online then the fixed calibration value provided in the options is returned

Returns

Pose/Transformation element of the system state as a SE3-torsor representing the camera extrinsics

T()

const SE23 & msceqf::SystemState::T ( ) const

nodiscard

return a constant reference to the extended pose element (R,v,p) of the system state as a SE23-torsor

Returns

Extended pose element (R,v,p) of the system state as a SE23-torsor

toString()

static std::string msceqf::SystemState::toString ( const SystemStateKey & key )

static

Get a string describing the given SystemStateKey.

Parameters

key	System state element name or feature id

Returns

String describing the given key

V()

const SE3 msceqf::SystemState::V ( ) const

nodiscard

return a copy of the pose element (R,v) of the system state as a SE3-torsor

Returns

Homogeneous galilean element (R,v) of the system state as a SE3-torsor

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The documentation for this class was generated from the following file:

• include/msceqf/system/system.hpp