#include <MockVioBackendInterface.hpp>

Inheritance diagram for okvis::MockVioBackendInterface:

Public Member Functions
	MOCK_METHOD1 (addCamera, int(const ExtrinsicsEstimationParameters &extrinsicsEstimationParameters))

	MOCK_METHOD1 (addImu, int(const ImuParameters &imuParameters))

	MOCK_METHOD0 (clearCameras, void())

	MOCK_METHOD0 (clearImus, void())

	MOCK_METHOD3 (addStates, bool(okvis::MultiFramePtr multiFrame, const okvis::ImuMeasurementDeque &imuMeasurements, bool asKeyframe))

	MOCK_METHOD2 (addLandmark, bool(uint64_t landmarkId, const Eigen::Vector4d &landmark))

	MOCK_METHOD4 (addObservation,::ceres::ResidualBlockId(uint64_t landmarkId, uint64_t poseId, size_t camIdx, size_t keypointIdx))

	MOCK_METHOD4 (removeObservation, bool(uint64_t landmarkId, uint64_t poseId, size_t camIdx, size_t keypointIdx))

	MOCK_METHOD3 (applyMarginalizationStrategy, bool(size_t numKeyframes, size_t numImuFrames, okvis::MapPointVector &removedLandmarks))

	MOCK_METHOD3 (optimize, void(size_t, size_t, bool))

	MOCK_METHOD2 (setOptimizationTimeLimit, bool(double timeLimit, int minIterations))

	MOCK_CONST_METHOD1 (isLandmarkAdded, bool(uint64_t landmarkId))

	MOCK_CONST_METHOD1 (isLandmarkInitialized, bool(uint64_t landmarkId))

	MOCK_CONST_METHOD2 (getLandmark, bool(uint64_t landmarkId, MapPoint &mapPoint))

	MOCK_CONST_METHOD1 (getLandmarks, size_t(PointMap &landmarks))

	MOCK_CONST_METHOD1 (getLandmarks, size_t(okvis::MapPointVector &landmarks))

	MOCK_CONST_METHOD1 (multiFrame, okvis::MultiFramePtr(uint64_t frameId))

	MOCK_CONST_METHOD2 (get_T_WS, bool(uint64_t poseId, okvis::kinematics::Transformation &T_WS))

	MOCK_CONST_METHOD3 (getSpeedAndBias, bool(uint64_t poseId, uint64_t imuIdx, okvis::SpeedAndBias &speedAndBias))

	MOCK_CONST_METHOD3 (getCameraSensorStates, bool(uint64_t poseId, size_t cameraIdx, okvis::kinematics::Transformation &T_SCi))

	MOCK_CONST_METHOD0 (numFrames, size_t())

	MOCK_CONST_METHOD0 (numLandmarks, size_t())

	MOCK_CONST_METHOD0 (currentKeyframeId, uint64_t())

	MOCK_CONST_METHOD1 (frameIdByAge, uint64_t(size_t age))

	MOCK_CONST_METHOD0 (currentFrameId, uint64_t())

	MOCK_CONST_METHOD1 (isKeyframe, bool(uint64_t frameId))

	MOCK_CONST_METHOD1 (isInImuWindow, bool(uint64_t frameId))

	MOCK_CONST_METHOD1 (timestamp, okvis::Time(uint64_t frameId))

	MOCK_METHOD2 (set_T_WS, bool(uint64_t poseId, const okvis::kinematics::Transformation &T_WS))

	MOCK_METHOD3 (setSpeedAndBias, bool(uint64_t poseId, size_t imuIdx, const okvis::SpeedAndBias &speedAndBias))

	MOCK_METHOD3 (setCameraSensorStates, bool(uint64_t poseId, size_t cameraIdx, const okvis::kinematics::Transformation &T_SCi))

	MOCK_METHOD2 (setLandmark, bool(uint64_t landmarkId, const Eigen::Vector4d &landmark))

	MOCK_METHOD2 (setLandmarkInitialized, void(uint64_t landmarkId, bool initialized))

	MOCK_METHOD2 (setKeyframe, void(uint64_t frameId, bool isKeyframe))

	MOCK_METHOD1 (setMap, void(std::shared_ptr< okvis::ceres::Map > mapPtr))

	MOCK_CONST_METHOD0 (initializationStatus, VioBackendInterface::InitializationStatus())

Public Member Functions inherited from okvis::VioBackendInterface
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	VioBackendInterface ()
	Default constructor. More...

virtual	~VioBackendInterface ()

virtual bool	addStates (okvis::MultiFramePtr multiFrame, const okvis::ImuMeasurementDeque &imuMeasurements, bool asKeyframe)=0
	Add a pose to the state. More...

virtual bool	addLandmark (uint64_t landmarkId, const Eigen::Vector4d &landmark)=0
	Add a landmark. More...

virtual bool	removeObservation (uint64_t landmarkId, uint64_t poseId, size_t camIdx, size_t keypointIdx)=0
	Remove an observation from a landmark, if available. More...

virtual void	optimize (size_t numIter, size_t numThreads=1, bool verbose=false)=0
	Start optimization. More...

virtual bool	setOptimizationTimeLimit (double timeLimit, int minIterations)=0
	Set a time limit for the optimization process. More...

virtual bool	isLandmarkAdded (uint64_t landmarkId) const =0
	Checks whether the landmark is added to the estimator. More...

virtual bool	isLandmarkInitialized (uint64_t landmarkId) const =0
	Checks whether the landmark is initialized. More...

virtual bool	isKeyframe (uint64_t frameId) const =0
	Checks if a particular frame is a keyframe. More...

virtual int	addCamera (const ExtrinsicsEstimationParameters &extrinsicsEstimationParameters)=0
	Add a camera to the configuration. Sensors can only be added and never removed. More...

virtual int	addImu (const ImuParameters &imuParameters)=0
	Add an IMU to the configuration. More...

virtual void	clearCameras ()=0
	Remove all cameras from the configuration. More...

virtual void	clearImus ()=0
	Remove all IMUs from the configuration. More...

virtual bool	getLandmark (uint64_t landmarkId, MapPoint &mapPoint) const =0
	Get a specific landmark. More...

virtual size_t	getLandmarks (PointMap &landmarks) const =0
	Get a copy of all the landmarks as a PointMap. More...

virtual okvis::MultiFramePtr	multiFrame (uint64_t frameId) const =0
	Get a multiframe. More...

virtual bool	get_T_WS (uint64_t poseId, okvis::kinematics::Transformation &T_WS) const =0
	Get pose for a given pose ID. More...

virtual bool	getSpeedAndBias (uint64_t poseId, uint64_t imuIdx, okvis::SpeedAndBias &speedAndBias) const =0
	Get speeds and IMU biases for a given pose ID. More...

virtual bool	getCameraSensorStates (uint64_t poseId, size_t cameraIdx, okvis::kinematics::Transformation &T_SCi) const =0
	Get camera states for a given pose ID. More...

virtual size_t	numFrames () const =0
	Get the number of states/frames in the estimator. More...

virtual size_t	numLandmarks () const =0
	Get the number of landmarks in the backend. More...

virtual uint64_t	currentFrameId () const =0
	Get the ID of the newest frame added to the state. More...

virtual InitializationStatus	initializationStatus () const
	Obtain the initialization status. More...

virtual okvis::Time	timestamp (uint64_t frameId) const =0
	Get the timestamp for a particular frame. More...

virtual bool	getPoseUncertainty (Eigen::Matrix< double, 6, 6 > &) const
	Get the current frame pose uncertainty. param[out] P_T_WS Current pose uncertainty w.r.t. [r_WS,delta_alpha_WS]. More...

virtual bool	getStateUncertainty (Eigen::Matrix< double, 15, 15 > &) const
	Get the current frame state uncertainty. param[out] P_T_WS Current pose uncertainty w.r.t. [r_WS,delta_alpha_WS,v_W,b_g,b_a]. More...

virtual bool	set_T_WS (uint64_t poseId, const okvis::kinematics::Transformation &T_WS)=0
	Set pose for a given pose ID. More...

virtual bool	setSpeedAndBias (uint64_t poseId, size_t imuIdx, const okvis::SpeedAndBias &speedAndBias)=0
	Set the speeds and IMU biases for a given pose ID. More...

virtual bool	setCameraSensorStates (uint64_t poseId, size_t cameraIdx, const okvis::kinematics::Transformation &T_SCi)=0
	Set the transformation from sensor to camera frame for a given pose ID. More...

virtual bool	setLandmark (uint64_t landmarkId, const Eigen::Vector4d &landmark)=0
	Set the homogeneous coordinates for a landmark. More...

virtual void	setLandmarkInitialized (uint64_t landmarkId, bool initialized)=0
	Set the landmark initialization state. More...

virtual void	setKeyframe (uint64_t frameId, bool isKeyframe)=0
	Set whether a frame is a keyframe or not. More...

virtual void	setMap (std::shared_ptr< okvis::ceres::Map > mapPtr)=0
	Set ceres map. More...

virtual void	setComputeUncertainty (bool)
	Request computation of uncertainties. param[in] computeUncertainty True, if uncertainties should be computed. More...

Additional Inherited Members
Public Types inherited from okvis::VioBackendInterface
enum	InitializationStatus { InitializationStatus::NotStarted = 0, InitializationStatus::Ongoing = 1, InitializationStatus::Complete = 2 }
	Enum to define the status of initialization. More...

Member Function Documentation

okvis::MockVioBackendInterface::MOCK_CONST_METHOD0	(	numFrames	,
		size_t()
	)

okvis::MockVioBackendInterface::MOCK_CONST_METHOD0	(	numLandmarks	,
		size_t()
	)

okvis::MockVioBackendInterface::MOCK_CONST_METHOD0	(	currentKeyframeId	,
		uint64_t()
	)

okvis::MockVioBackendInterface::MOCK_CONST_METHOD0	(	currentFrameId	,
		uint64_t()
	)

okvis::MockVioBackendInterface::MOCK_CONST_METHOD0	(	initializationStatus	,
		VioBackendInterface::	InitializationStatus()
	)

okvis::MockVioBackendInterface::MOCK_CONST_METHOD1	(	isLandmarkAdded	,
		bool(uint64_t landmarkId)
	)

okvis::MockVioBackendInterface::MOCK_CONST_METHOD1	(	isLandmarkInitialized	,
		bool(uint64_t landmarkId)
	)

okvis::MockVioBackendInterface::MOCK_CONST_METHOD1	(	getLandmarks	,
		size_t(PointMap &landmarks)
	)

okvis::MockVioBackendInterface::MOCK_CONST_METHOD1	(	getLandmarks	,
		size_t(okvis::MapPointVector &landmarks)
	)

okvis::MockVioBackendInterface::MOCK_CONST_METHOD1	(	multiFrame	,
		okvis::	MultiFramePtruint64_t frameId
	)

okvis::MockVioBackendInterface::MOCK_CONST_METHOD1	(	frameIdByAge	,
		uint64_t(size_t age)
	)

okvis::MockVioBackendInterface::MOCK_CONST_METHOD1	(	isKeyframe	,
		bool(uint64_t frameId)
	)

okvis::MockVioBackendInterface::MOCK_CONST_METHOD1	(	isInImuWindow	,
		bool(uint64_t frameId)
	)

okvis::MockVioBackendInterface::MOCK_CONST_METHOD1	(	timestamp	,
		okvis::	Timeuint64_t frameId
	)

okvis::MockVioBackendInterface::MOCK_CONST_METHOD2	(	getLandmark	,
		bool(uint64_t landmarkId, MapPoint &mapPoint)
	)

okvis::MockVioBackendInterface::MOCK_CONST_METHOD2	(	get_T_WS	,
		bool(uint64_t poseId, okvis::kinematics::Transformation &T_WS)
	)

okvis::MockVioBackendInterface::MOCK_CONST_METHOD3	(	getSpeedAndBias	,
		bool(uint64_t poseId, uint64_t imuIdx, okvis::SpeedAndBias &speedAndBias)
	)

okvis::MockVioBackendInterface::MOCK_CONST_METHOD3	(	getCameraSensorStates	,
		bool(uint64_t poseId, size_t cameraIdx, okvis::kinematics::Transformation &T_SCi)
	)

okvis::MockVioBackendInterface::MOCK_METHOD0	(	clearCameras	,
		void()
	)

okvis::MockVioBackendInterface::MOCK_METHOD0	(	clearImus	,
		void()
	)

okvis::MockVioBackendInterface::MOCK_METHOD1	(	addCamera	,
		int(const ExtrinsicsEstimationParameters &extrinsicsEstimationParameters)
	)

okvis::MockVioBackendInterface::MOCK_METHOD1	(	addImu	,
		int(const ImuParameters &imuParameters)
	)

okvis::MockVioBackendInterface::MOCK_METHOD1	(	setMap	,
		void(std::shared_ptr< okvis::ceres::Map > mapPtr)
	)

okvis::MockVioBackendInterface::MOCK_METHOD2	(	addLandmark	,
		bool(uint64_t landmarkId, const Eigen::Vector4d &landmark)
	)

okvis::MockVioBackendInterface::MOCK_METHOD2	(	setOptimizationTimeLimit	,
		bool(double timeLimit, int minIterations)
	)

okvis::MockVioBackendInterface::MOCK_METHOD2	(	set_T_WS	,
		bool(uint64_t poseId, const okvis::kinematics::Transformation &T_WS)
	)

okvis::MockVioBackendInterface::MOCK_METHOD2	(	setLandmark	,
		bool(uint64_t landmarkId, const Eigen::Vector4d &landmark)
	)

okvis::MockVioBackendInterface::MOCK_METHOD2	(	setLandmarkInitialized	,
		void(uint64_t landmarkId, bool initialized)
	)

okvis::MockVioBackendInterface::MOCK_METHOD2	(	setKeyframe	,
		void(uint64_t frameId, bool isKeyframe)
	)

okvis::MockVioBackendInterface::MOCK_METHOD3	(	addStates	,
		bool(okvis::MultiFramePtr multiFrame, const okvis::ImuMeasurementDeque &imuMeasurements, bool asKeyframe)
	)

okvis::MockVioBackendInterface::MOCK_METHOD3	(	applyMarginalizationStrategy	,
		bool(size_t numKeyframes, size_t numImuFrames, okvis::MapPointVector &removedLandmarks)
	)

okvis::MockVioBackendInterface::MOCK_METHOD3	(	optimize	,
		void(size_t, size_t, bool)
	)

okvis::MockVioBackendInterface::MOCK_METHOD3	(	setSpeedAndBias	,
		bool(uint64_t poseId, size_t imuIdx, const okvis::SpeedAndBias &speedAndBias)
	)

okvis::MockVioBackendInterface::MOCK_METHOD3	(	setCameraSensorStates	,
		bool(uint64_t poseId, size_t cameraIdx, const okvis::kinematics::Transformation &T_SCi)
	)

okvis::MockVioBackendInterface::MOCK_METHOD4	(	addObservation	,
		::ceres::	ResidualBlockIduint64_t landmarkId, uint64_t poseId, size_t camIdx, size_t keypointIdx
	)

okvis::MockVioBackendInterface::MOCK_METHOD4	(	removeObservation	,
		bool(uint64_t landmarkId, uint64_t poseId, size_t camIdx, size_t keypointIdx)
	)

The documentation for this class was generated from the following file:

okvis_multisensor_processing/test/MockVioBackendInterface.hpp

Public Member Functions

Additional Inherited Members

Member Function Documentation