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okvis::MockVioBackendInterface Class Reference

#include <MockVioBackendInterface.hpp>

Inheritance diagram for okvis::MockVioBackendInterface:
okvis::VioBackendInterface

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: