model

SLAM.Mapping.RGBDAnchoredMapCorrection

Public declarations

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

Role	Name	Type	Dimensions / attributes / default
constant	`mapCapacity`	`Integer`	`= RGBDMapAnchors.mapCapacity`
constant	`keyframeCapacity`	`Integer`	`= RGBDMapAnchors.keyframeCapacity`
constant	`dimension`	`Integer`	`= RGBDMapAnchors.dimension`
parameter	`coordinateLimit`	`Real`	`= 1e6`
input	`previousPoint`	`Real`	`[mapCapacity,dimension] = zeros(mapCapacity,dimension)`
input	`previousLocalPoint`	`Real`	`[mapCapacity,dimension] = zeros(mapCapacity,dimension)`
input	`previousOccupied`	`Real`	`[mapCapacity] = zeros(mapCapacity)`
input	`previousAnchorId`	`Integer`	`[mapCapacity] = fill(0,mapCapacity)`
input	`previousAnchorSlot`	`Integer`	`[mapCapacity] = fill(0,mapCapacity)`
input	`mapGeneration`	`Integer`	`= 1`
input	`previousRevision`	`Integer`	`= 0`
input	`nodeEnabled`	`Boolean`	`[keyframeCapacity] = fill(false,keyframeCapacity)`
input	`nodeId`	`Integer`	`[keyframeCapacity] = fill(0,keyframeCapacity)`
input	`nodePosition`	`Real`	`[keyframeCapacity,dimension] = zeros(keyframeCapacity,dimension)`
input	`nodeRotation`	`Real`	`[keyframeCapacity,dimension,dimension] = zeros(keyframeCapacity,dimension,dimension)`
input	`graphGeneration`	`Integer`	`= 1`
input	`graphRevision`	`Integer`	`= 1`
input	`graphAccepted`	`Boolean`	`= false`
input	`requested`	`Boolean`	`= false`
output	`point`	`Real`	`[mapCapacity,dimension]`
output	`localPoint`	`Real`	`[mapCapacity,dimension]`
output	`occupied`	`Real`	`[mapCapacity]`
output	`anchorId`	`Integer`	`[mapCapacity]`
output	`anchorSlot`	`Integer`	`[mapCapacity]`
output	`nextRevision`	`Integer`
output	`accepted`	`Boolean`
output	`rejectionReason`	`Integer`
output	`projectedCount`	`Integer`
output	`prunedCount`	`Integer`

Modelica declarations and implementation

Show parameters, interfaces and source

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

model RGBDAnchoredMapCorrection
  import RGBDMapAnchors = SLAM.Mapping.RGBDMapAnchors;

  constant Integer mapCapacity = RGBDMapAnchors.mapCapacity;
  constant Integer keyframeCapacity = RGBDMapAnchors.keyframeCapacity;
  constant Integer dimension = RGBDMapAnchors.dimension;
  parameter Real coordinateLimit = 1e6;
  input Real previousPoint[mapCapacity,dimension] = zeros(mapCapacity,dimension);
  input Real previousLocalPoint[mapCapacity,dimension] = zeros(mapCapacity,dimension);
  input Real previousOccupied[mapCapacity] = zeros(mapCapacity);
  input Integer previousAnchorId[mapCapacity] = fill(0,mapCapacity);
  input Integer previousAnchorSlot[mapCapacity] = fill(0,mapCapacity);
  input Integer mapGeneration = 1; input Integer previousRevision = 0;
  input Boolean nodeEnabled[keyframeCapacity] = fill(false,keyframeCapacity);
  input Integer nodeId[keyframeCapacity] = fill(0,keyframeCapacity);
  input Real nodePosition[keyframeCapacity,dimension] = zeros(keyframeCapacity,dimension);
  input Real nodeRotation[keyframeCapacity,dimension,dimension] = zeros(keyframeCapacity,dimension,dimension);
  input Integer graphGeneration = 1; input Integer graphRevision = 1;
  input Boolean graphAccepted = false; input Boolean requested = false;
  output Real point[mapCapacity,dimension]; output Real localPoint[mapCapacity,dimension];
  output Real occupied[mapCapacity];
  output Integer anchorId[mapCapacity]; output Integer anchorSlot[mapCapacity];
  output Integer nextRevision; output Boolean accepted;
  output Integer rejectionReason; output Integer projectedCount; output Integer prunedCount;
equation
  (point,localPoint,occupied,anchorId,anchorSlot,nextRevision,accepted,rejectionReason,projectedCount,prunedCount) =
    RGBDMapAnchors.Reproject(previousPoint,previousLocalPoint,previousOccupied,previousAnchorId,previousAnchorSlot,
      mapGeneration,previousRevision,nodeEnabled,nodeId,nodePosition,nodeRotation,graphGeneration,graphRevision,
      graphAccepted,requested,coordinateLimit);
end RGBDAnchoredMapCorrection;