function

SLAM.LoopClosure.RGBDLoopVerification.EmptyProposal

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
input	`seed`	`Integer`
output	`result`	`Proposal`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function EmptyProposal
    input Integer seed;
    output Proposal result;
  algorithm
    result.verified := false; result.rejectionReason := 1;
    result.generation := 0; result.referenceId := 0; result.currentId := 0;
    result.referenceEpoch := -1; result.currentEpoch := -1;
    result.matchedCount := 0; result.inlierCount := 0; result.rms := 0.0; result.nextSeed := seed;
    result.inliers := fill(false,featureCapacity); result.partners := fill(0,featureCapacity);
    result.opticalRotation := identity(dimension); result.opticalTranslation := zeros(dimension);
    result.bodyRotation := identity(dimension); result.bodyTranslation := zeros(dimension);
    result.covariance := zeros(poseDimension,poseDimension); result.information := zeros(poseDimension,poseDimension);
  end EmptyProposal;