SLAM/Mapping/RGBDLandmarkMapInterface.mo

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Documentation: SLAM.Mapping.RGBDLandmarkMapInterface

within SLAM.Mapping;
// Persistent state is explicit: callers retain only accepted next-state outputs.
// All coordinates are in one unchanged world ENU frame. Points come from
// RGBDLandmarkProjection and bodyPosition is estimated, never ground truth.
partial function RGBDLandmarkMapInterface
  input Real previousPoint[:,:];
  input Real previousOccupied[:];
  input Real previousConfidence[:];
  input Real previousLastSeen[:];
  input Real previousLastFrame[:];
  input Real candidatePoint[:,:];
  input Real candidateEnabled[:];
  input Real candidateCount;
  input Real bodyPosition[3];
  input Real poseAccepted;
  input Real previousTime;
  input Real timeNow;
  input Real previousFrame;
  input Real frameNow;
  input Real previousWorldFrame;
  input Real worldFrame;
  input Real resetRequested;
  input Real coordinateLimit;
  input Real voxelWidth;
  input Real mergeRadius;
  input Real maximumDistance;
  input Real tentativeLifetime;
  input Real confirmedLifetime;
  input Real confirmationObservations;
  input Real maximumConfidence;
  input Real maximumTentative;
  output Real point[size(previousOccupied,1),3];
  output Real occupied[size(previousOccupied,1)];
  output Real confidence[size(previousOccupied,1)];
  output Real lastSeen[size(previousOccupied,1)];
  output Real lastFrame[size(previousOccupied,1)];
  output Real confirmed[size(previousOccupied,1)];
  output Real accepted;
  output Real rejectionReason;
  output Real nextTime;
  output Real nextFrame;
  output Real nextWorldFrame;
  output Real occupiedCount;
  output Real confirmedCount;
  output Real tentativeCount;
  output Real insertedCount;
  output Real mergedCount;
  output Real prunedCount;
  output Real droppedCount;
  output Real invalidCandidateCount;
end RGBDLandmarkMapInterface;