function

SLAM.PoseGraph.RGBDGraphMeasurements.FromProposal

Public declarations

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

Role	Name	Type
input	`proposal`	`RGBDLoopVerification.Proposal`
input	`id`	`Integer`
input	`kind`	`Integer`
output	`result`	`Edge`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function FromProposal
    input RGBDLoopVerification.Proposal proposal;
    input Integer id; input Integer kind;
    output Edge result;
  algorithm
    result := EmptyEdge(); result.enabled := true; result.id := id; result.kind := kind;
    result.referenceId := proposal.referenceId; result.currentId := proposal.currentId;
    result.referenceSlot := mod(proposal.referenceId-1,nodeCapacity)+1;
    result.currentSlot := mod(proposal.currentId-1,nodeCapacity)+1;
    result.referenceEpoch := proposal.referenceEpoch; result.currentEpoch := proposal.currentEpoch;
    result.rotation := proposal.bodyRotation; result.translation := proposal.bodyTranslation;
    result.covariance := proposal.covariance; result.information := proposal.information;
  end FromProposal;