OKVIS: okvis::ceres::ErrorInterface Class Reference

Simple interface class the errors implemented here should inherit from. More...

#include <ErrorInterface.hpp>

Inheritance diagram for okvis::ceres::ErrorInterface:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	ErrorInterface ()
	Constructor. More...

virtual	~ErrorInterface ()
	Destructor (does nothing). More...

virtual bool	EvaluateWithMinimalJacobians (double const const parameters, double residuals, double jacobians, double *jacobiansMinimal) const =0
	This evaluates the error term and additionally computes the Jacobians in the minimal internal representation. More...

virtual std::string	typeInfo () const =0
	Residual block type as string. More...

Sizes
virtual size_t	residualDim () const =0
	Get dimension of residuals. More...

virtual size_t	parameterBlocks () const =0
	Get the number of parameter blocks this is connected to. More...

virtual size_t	parameterBlockDim (size_t parameterBlockId) const =0
	get the dimension of a parameter block this is connected to. More...

Detailed Description

Simple interface class the errors implemented here should inherit from.

Constructor & Destructor Documentation

EIGEN_MAKE_ALIGNED_OPERATOR_NEW okvis::ceres::ErrorInterface::ErrorInterface ( )

inline

Constructor.

virtual okvis::ceres::ErrorInterface::~ErrorInterface ( )

inlinevirtual

Destructor (does nothing).

Member Function Documentation

virtual bool okvis::ceres::ErrorInterface::EvaluateWithMinimalJacobians	(	double const const	parameters,
		double *	residuals,
		double **	jacobians,
		double **	jacobiansMinimal
	)		const

pure virtual

This evaluates the error term and additionally computes the Jacobians in the minimal internal representation.

Parameters

parameters	Pointer to the parameters (see ceres)
residuals	Pointer to the residual vector (see ceres)
jacobians	Pointer to the Jacobians (see ceres)
jacobiansMinimal	Pointer to the minimal Jacobians (equivalent to jacobians).

Returns: Success of the evaluation.

Implemented in okvis::ceres::ImuError, okvis::ceres::MarginalizationError, okvis::ceres::ReprojectionError< GEOMETRY_TYPE >, okvis::ceres::PoseError, okvis::ceres::SpeedAndBiasError, okvis::ceres::HomogeneousPointError, and okvis::ceres::RelativePoseError.

virtual size_t okvis::ceres::ErrorInterface::parameterBlockDim ( size_t parameterBlockId ) const

pure virtual

get the dimension of a parameter block this is connected to.

Parameters

parameterBlockId The ID of the parameter block of interest.

Returns: Its dimension.

Implemented in okvis::ceres::ImuError, okvis::ceres::MarginalizationError, okvis::ceres::ReprojectionError< GEOMETRY_TYPE >, okvis::ceres::PoseError, okvis::ceres::SpeedAndBiasError, okvis::ceres::HomogeneousPointError, and okvis::ceres::RelativePoseError.

virtual size_t okvis::ceres::ErrorInterface::parameterBlocks ( ) const

pure virtual

Get the number of parameter blocks this is connected to.

Returns: The number of parameter blocks.

Implemented in okvis::ceres::ImuError, okvis::ceres::MarginalizationError, okvis::ceres::ReprojectionError< GEOMETRY_TYPE >, okvis::ceres::PoseError, okvis::ceres::SpeedAndBiasError, okvis::ceres::HomogeneousPointError, and okvis::ceres::RelativePoseError.

virtual size_t okvis::ceres::ErrorInterface::residualDim ( ) const

pure virtual

Get dimension of residuals.

Returns: The residual dimension.

Implemented in okvis::ceres::ImuError, okvis::ceres::MarginalizationError, okvis::ceres::ReprojectionError< GEOMETRY_TYPE >, okvis::ceres::PoseError, okvis::ceres::SpeedAndBiasError, okvis::ceres::HomogeneousPointError, and okvis::ceres::RelativePoseError.

virtual std::string okvis::ceres::ErrorInterface::typeInfo ( ) const

pure virtual

Residual block type as string.

Implemented in okvis::ceres::ImuError, okvis::ceres::MarginalizationError, okvis::ceres::ReprojectionError< GEOMETRY_TYPE >, okvis::ceres::PoseError, okvis::ceres::SpeedAndBiasError, okvis::ceres::HomogeneousPointError, and okvis::ceres::RelativePoseError.

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

okvis_ceres/include/okvis/ceres/ErrorInterface.hpp