MapPoint Class Reference

The MapPoint class. More...

Inheritance diagram for MapPoint:

Public Member Functions
	MapPoint (const PointID &id, const Point3Type &position=Point3Type(0, 0, 0))
virtual std::string	type () const
const PointID &	id () const
Point3Type	getPose () const
void	setPose (const Point3Type &pt)
virtual Point3Type	getNormal () const
virtual bool	setNormal (const Point3Type &nVec)
virtual ColorType	getColor () const
virtual bool	setColor (const ColorType &color) const
virtual bool	setDescriptor (const GImage &des)
virtual GImage	getDescriptor () const
virtual bool	isPoseRelative () const
virtual FrameID	refKeyframeID () const
virtual FramePtr	refKeyframe () const
virtual int	observationNum () const
virtual bool	getObservations (std::map< FrameID, size_t > &obs) const
virtual MapPointObsVec	getObservations () const
virtual bool	addObservation (GSLAM::FrameID frId, size_t featId)
virtual bool	eraseObservation (GSLAM::FrameID frId)
virtual bool	clearObservation ()
Public Member Functions inherited from GObject
virtual void	call (const std::string &command, void *arg=NULL)
virtual void	draw ()
virtual bool	toByteArray (std::vector< uchar > &array)
virtual bool	fromByteArray (std::vector< uchar > &array)

Protected Attributes
MutexRW	_mutexPt

Detailed Description

The MapPoint class.