function

SLAM.Localization.RGBDLocalizationCatalog.Empty

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default
input	`estimator`	`Estimator`
input	`generation`	`Integer`	`= 1`
input	`sourceRevision`	`Integer`	`= 1`
input	`vocabularyVersion`	`Integer`	`= 1`
input	`worldFrame`	`Real`	`= 0.0`
output	`result`	`State`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

function Empty
    input Estimator estimator;
    input Integer generation = 1;
    input Integer sourceRevision = 1;
    input Integer vocabularyVersion = 1;
    input Real worldFrame = 0.0;
    output State result;
  algorithm
    result.estimator := estimator;
    result.catalog := RGBDKeyframes.Empty(generation,vocabularyVersion);
    result.graph := RGBDGraphMeasurements.Empty(generation);
    result.map := RGBDCatalogMapping.Empty(generation,worldFrame);
    result.generation := generation; result.sourceRevision := sourceRevision;
    result.initialized := false; result.predictionTime := 0.0; result.steps := 0;
    result.lastProcessedImageEpoch := -1; result.lastProcessedImageTime := 0.0;
    result.referenceBirth.generation := generation; result.referenceBirth.epoch := -1;
    result.referenceBirth.sequence := 0; result.referenceBirth.catalogId := 0;
  end Empty;