Struct TriangulationResult

Struct Documentation

struct aslam::TriangulationResult

This struct is returned by the triangulator and holds the result state of the triangulation operation.

Public Types

enum Status

Possible triangulation state.

Values:

enumerator kSuccessful

The triangulation was successful.

enumerator kTooFewMeasurments

There were too few landmark observations.

enumerator kUnobservable

The landmark is not fully observable (rank deficiency).

enumerator kUninitialized

Default value after construction.

Public Functions

inline constexpr TriangulationResult()
inline constexpr TriangulationResult(Status status)
inline explicit operator bool() const

The triangulation result can be typecasted to bool and is true if the triangulation was successful.

inline bool wasTriangulationSuccessful() const

Check whether the triangulation was successful.

inline Status status() const

Returns the exact state of the triangulation operation.

Public Static Attributes

static Status SUCCESSFUL
static Status TOO_FEW_MEASUREMENTS
static Status UNOBSERVABLE
static Status UNINITIALIZED

Friends

inline friend friend std::ostream & operator<< (std::ostream &out, const TriangulationResult &state)

Convenience function to print the state using streams.