ErrorInterface.hpp

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/*********************************************************************************
 *  OKVIS - Open Keyframe-based Visual-Inertial SLAM
 *  Copyright (c) 2015, Autonomous Systems Lab / ETH Zurich
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 *  Created on: Sep 12, 2013
 *      Author: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *********************************************************************************/

#ifndef INCLUDE_OKVIS_CERES_ERRORINTERFACE_HPP_
#define INCLUDE_OKVIS_CERES_ERRORINTERFACE_HPP_

#include <vector>
#include <Eigen/Core>
#include <okvis/assert_macros.hpp>

namespace okvis {
namespace ceres {

class ErrorInterface {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  OKVIS_DEFINE_EXCEPTION(Exception, std::runtime_error)

  
  ErrorInterface() {
  }
  virtual ~ErrorInterface() {
  }


  virtual size_t residualDim() const = 0;

  virtual size_t parameterBlocks() const = 0;

  virtual size_t parameterBlockDim(size_t parameterBlockId) const = 0;

  // Error and Jacobian computation
  virtual bool EvaluateWithMinimalJacobians(
      double const* const * parameters, double* residuals, double** jacobians,
      double** jacobiansMinimal) const = 0;

  virtual std::string typeInfo() const = 0;
};

}  // namespace ceres
}  // namespace okvis

#endif /* INCLUDE_OKVIS_CERES_ERRORINTERFACE_HPP_ */