C# (CSharp) SceneLibrary Feature.set_position_in_total_state_vector Examples

Example #1

File: scene_single.cs Project: iManbot/monoslam

        /// <summary>
        /// Function to unite the bookeeping stuff for both
        /// add_new_partially_initialised_feature() and add_new_known_feature()
        /// </summary>
        /// <param name="nf"></param>
        public void add_new_feature_bookeeping(Feature nf)
        {  
            feature_list.Add(nf);

            next_free_label++; // Potential millenium-style bug when this overloads
                               // (hello if you're reading this in the year 3000)

            nf.set_position_in_total_state_vector(total_state_size);
            total_state_size += nf.get_feature_measurement_model().FEATURE_STATE_SIZE;
        }