msceqf::Updater Class Reference

Updater class. This class implements the Multi State Constraint update step of the MSCEqF filter. More...

#include <updater.hpp>

Public Member Functions
	Updater (const UpdaterOptions &opts, const SystemState &xi0)
void	mscUpdate (MSCEqFState &X, const Tracks &tracks, std::unordered_set< uint > &ids)
	Perform a Multi State Constraint update.

Detailed Description

Updater class. This class implements the Multi State Constraint update step of the MSCEqF filter.

Member Function Documentation

mscUpdate()

void msceqf::Updater::mscUpdate	(	MSCEqFState &	X,
		const Tracks &	tracks,
		std::unordered_set< uint > &	ids )

Perform a Multi State Constraint update.

Parameters

X	MSCEqF state
tracks	Tracks to update
ids	Indices of the tracks that are evaluated for an update

Note

Not all the tracks corresponding to the given ids will be used for the update. Tracks that do not contains at least two views, tracks for which the triangulation fails, and tracks that fail the chi2 test are discarded. The set ids will change accordingly.

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

• include/msceqf/filter/updater/updater.hpp