msceqf::FeatHelper Struct Reference

FeatHelper struct. This struct implements a helper structure holding all the information related to a single feature measurement to be used in the computation of the C matrix, Cf matrix and residual delta, for the MSCEqF update. More...

#include <updater_helper.hpp>

Public Member Functions
	FeatHelper (const Vector3 &A_f, const Vector2 &uv, const Vector2 &uvn, const fp &anchor_timestamp, const fp &clone_timestamp)

Public Attributes
const Vector3 &	A_f_
	Triangulated feature in anchor frame.
const Vector2 &	uv_
	(measured) feature coordinates
const Vector2 &	uvn_
	Normalized (measured) feature coordinates.
const fp &	anchor_timestamp_
	Timestamp of the anchor.
const fp &	clone_timestamp_
	Timestamp of the feature measurement.

Detailed Description

FeatHelper struct. This struct implements a helper structure holding all the information related to a single feature measurement to be used in the computation of the C matrix, Cf matrix and residual delta, for the MSCEqF update.

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

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