function

SLAM.Localization.RGBDLocalizationCatalog.FrameBound

Public declarations

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

Role	Name	Type
input	`previous`	`State`
input	`proposed`	`Estimator`
input	`measurement`	`RGBDKeyframes.Frame`
input	`imageEpoch`	`Integer`
input	`imageTime`	`Real`
input	`observationAccepted`	`Real`
input	`captureAccepted`	`Real`
input	`frameAccepted`	`Boolean`
output	`frameBound`	`Boolean`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function FrameBound
    input State previous; input Estimator proposed; input RGBDKeyframes.Frame measurement;
    input Integer imageEpoch; input Real imageTime;
    input Real observationAccepted; input Real captureAccepted; input Boolean frameAccepted;
    output Boolean frameBound;
  algorithm
    frameBound := frameAccepted and measurement.generation == previous.generation
      and measurement.id == previous.catalog.nextId and measurement.epoch == imageEpoch
      and SLAMExactRealEqual(measurement.imageTime,imageTime)
      and measurement.vocabularyVersion == previous.catalog.vocabularyVersion
      and (SLAMExactRealEqual(observationAccepted,1.0) or SLAMExactRealEqual(captureAccepted,1.0));
    if frameBound then
      for axis in 1:dimension loop
        frameBound := frameBound and SLAMExactRealEqual(measurement.bodyPosition[axis],proposed.position[axis]);
        for column in 1:dimension loop
          frameBound := frameBound and SLAMExactRealEqual(measurement.bodyRotation[axis,column],proposed.rotation[axis,column]);
        end for;
      end for;
      for row in 1:referenceDimension loop
        for column in 1:referenceDimension loop
          frameBound := frameBound and SLAMExactRealEqual(measurement.poseCovariance[row,column],
            proposed.covariance[RGBDLocalizationFrame.poseIndices[row],RGBDLocalizationFrame.poseIndices[column]]);
        end for;
      end for;
    end if;
  end FrameBound;