Base class providing the interface for parameter blocks. More...

#include <ParameterBlock.hpp>

Inheritance diagram for okvis::ceres::ParameterBlock:

Public Member Functions
	ParameterBlock ()
	Default constructor, assumes not fixed and no local parameterisation. More...

virtual	~ParameterBlock ()
	Trivial destructor. More...

virtual void	plus (const double x0, const double Delta_Chi, double *x0_plus_Delta) const =0
	Generalization of the addition operation, x_plus_delta = Plus(x, delta) with the condition that Plus(x, 0) = x. More...

virtual void	plusJacobian (const double x0, double jacobian) const =0
	The jacobian of Plus(x, delta) w.r.t delta at delta = 0. More...

virtual void	minus (const double x0, const double x0_plus_Delta, double *Delta_Chi) const =0
	Computes the minimal difference between a variable x and a perturbed variable x_plus_delta. More...

virtual void	liftJacobian (const double x0, double jacobian) const =0
	Computes the Jacobian from minimal space to naively overparameterised space as used by ceres. More...

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

Setters
void	setId (uint64_t id)
	Set parameter block ID. More...

virtual void	setParameters (const double *parameters)=0
	Directly set values of this parameter block. More...

void	setFixed (bool fixed)
	Whether or not this should be optimised at all. More...

Getters
virtual double *	parameters ()=0
	Get parameter values. More...

virtual const double *	parameters () const =0
	Get parameter values. More...

uint64_t	id () const
	Get parameter block ID. More...

virtual size_t	dimension () const =0
	Get the dimension of the parameter block. More...

virtual size_t	minimalDimension () const =0
	The dimension of the internal parameterisation (minimal representation). More...

bool	fixed () const
	Whether or not this is optimised at all. More...

Local parameterization
virtual void	setLocalParameterizationPtr (const ::ceres::LocalParameterization *localParameterizationPtr)
	Set which local parameterisation object to use. More...

virtual const ::ceres::LocalParameterization *	localParameterizationPtr () const
	The local parameterisation object to use. More...

Protected Attributes
uint64_t	id_
	ID of the parameter block. More...

bool	fixed_
	Whether or not this should be optimised at all (ceres::problem::setFixed) More...

const ::ceres::LocalParameterization *	localParameterizationPtr_
	The local parameterisation object to use. More...

Detailed Description

Base class providing the interface for parameter blocks.

Constructor & Destructor Documentation

okvis::ceres::ParameterBlock::ParameterBlock ( )

inline

Default constructor, assumes not fixed and no local parameterisation.

virtual okvis::ceres::ParameterBlock::~ParameterBlock ( )

inlinevirtual

Trivial destructor.

Member Function Documentation

virtual size_t okvis::ceres::ParameterBlock::dimension ( ) const

pure virtual

Get the dimension of the parameter block.

Implemented in okvis::ceres::ParameterBlockSized< Dim, MinDim, T >, okvis::ceres::ParameterBlockSized< 9, 9, SpeedAndBias >, okvis::ceres::ParameterBlockSized< 7, 6, okvis::kinematics::Transformation >, and okvis::ceres::ParameterBlockSized< 4, 3, Eigen::Vector4d >.

bool okvis::ceres::ParameterBlock::fixed ( ) const

inline

Whether or not this is optimised at all.

uint64_t okvis::ceres::ParameterBlock::id ( ) const

inline

Get parameter block ID.

virtual void okvis::ceres::ParameterBlock::liftJacobian	(	const double *	x0,
		double *	jacobian
	)		const

pure virtual

Computes the Jacobian from minimal space to naively overparameterised space as used by ceres.

Parameters

[in]	x0	Variable.
[out]	jacobian	the Jacobian (dimension minDim x dim).

Returns: True on success.

Implemented in okvis::ceres::HomogeneousPointParameterBlock, okvis::ceres::SpeedAndBiasParameterBlock, and okvis::ceres::PoseParameterBlock.

virtual const ::ceres::LocalParameterization* okvis::ceres::ParameterBlock::localParameterizationPtr ( ) const

inlinevirtual

The local parameterisation object to use.

virtual size_t okvis::ceres::ParameterBlock::minimalDimension ( ) const

pure virtual

The dimension of the internal parameterisation (minimal representation).

Implemented in okvis::ceres::ParameterBlockSized< Dim, MinDim, T >, okvis::ceres::ParameterBlockSized< 9, 9, SpeedAndBias >, okvis::ceres::ParameterBlockSized< 7, 6, okvis::kinematics::Transformation >, and okvis::ceres::ParameterBlockSized< 4, 3, Eigen::Vector4d >.

virtual void okvis::ceres::ParameterBlock::minus	(	const double *	x0,
		const double *	x0_plus_Delta,
		double *	Delta_Chi
	)		const

pure virtual

Computes the minimal difference between a variable x and a perturbed variable x_plus_delta.

Parameters

[in]	x0	Variable.
[in]	x0_plus_Delta	Perturbed variable.
[out]	Delta_Chi	Minimal difference.

Returns: True on success.

Implemented in okvis::ceres::HomogeneousPointParameterBlock, okvis::ceres::SpeedAndBiasParameterBlock, and okvis::ceres::PoseParameterBlock.

virtual double* okvis::ceres::ParameterBlock::parameters ( )

pure virtual

Get parameter values.

Implemented in okvis::ceres::ParameterBlockSized< Dim, MinDim, T >, okvis::ceres::ParameterBlockSized< 9, 9, SpeedAndBias >, okvis::ceres::ParameterBlockSized< 7, 6, okvis::kinematics::Transformation >, and okvis::ceres::ParameterBlockSized< 4, 3, Eigen::Vector4d >.

virtual const double* okvis::ceres::ParameterBlock::parameters ( ) const

pure virtual

Get parameter values.

Implemented in okvis::ceres::ParameterBlockSized< Dim, MinDim, T >, okvis::ceres::ParameterBlockSized< 9, 9, SpeedAndBias >, okvis::ceres::ParameterBlockSized< 7, 6, okvis::kinematics::Transformation >, and okvis::ceres::ParameterBlockSized< 4, 3, Eigen::Vector4d >.

virtual void okvis::ceres::ParameterBlock::plus	(	const double *	x0,
		const double *	Delta_Chi,
		double *	x0_plus_Delta
	)		const

pure virtual

Generalization of the addition operation, x_plus_delta = Plus(x, delta) with the condition that Plus(x, 0) = x.

Parameters

[in]	x0	Variable.
[in]	Delta_Chi	Perturbation.
[out]	x0_plus_Delta	Perturbed x.

Implemented in okvis::ceres::HomogeneousPointParameterBlock, okvis::ceres::SpeedAndBiasParameterBlock, and okvis::ceres::PoseParameterBlock.

virtual void okvis::ceres::ParameterBlock::plusJacobian	(	const double *	x0,
		double *	jacobian
	)		const

pure virtual

The jacobian of Plus(x, delta) w.r.t delta at delta = 0.

Parameters

[in]	x0	Variable.
[out]	jacobian	The Jacobian.

Implemented in okvis::ceres::HomogeneousPointParameterBlock, okvis::ceres::SpeedAndBiasParameterBlock, and okvis::ceres::PoseParameterBlock.

void okvis::ceres::ParameterBlock::setFixed ( bool fixed )

inline

Whether or not this should be optimised at all.

Parameters

[in] fixed True if not to be optimised.

void okvis::ceres::ParameterBlock::setId ( uint64_t id )

inline

Set parameter block ID.

Parameters

[in] id A unique ID.

virtual void okvis::ceres::ParameterBlock::setLocalParameterizationPtr ( const ::ceres::LocalParameterization * localParameterizationPtr )

inlinevirtual

Set which local parameterisation object to use.

Parameters

localParameterizationPtr The local parameterisation object to use.

virtual void okvis::ceres::ParameterBlock::setParameters ( const double * parameters )

pure virtual

Directly set values of this parameter block.

Parameters

[in] parameters Pointer to parameters to be copied into this.

Implemented in okvis::ceres::ParameterBlockSized< Dim, MinDim, T >, okvis::ceres::ParameterBlockSized< 9, 9, SpeedAndBias >, okvis::ceres::ParameterBlockSized< 7, 6, okvis::kinematics::Transformation >, and okvis::ceres::ParameterBlockSized< 4, 3, Eigen::Vector4d >.

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

pure virtual

Return parameter block type as string.

Implemented in okvis::ceres::HomogeneousPointParameterBlock, okvis::ceres::SpeedAndBiasParameterBlock, and okvis::ceres::PoseParameterBlock.

Member Data Documentation

bool okvis::ceres::ParameterBlock::fixed_

protected

Whether or not this should be optimised at all (ceres::problem::setFixed)

uint64_t okvis::ceres::ParameterBlock::id_

protected

ID of the parameter block.

const ::ceres::LocalParameterization* okvis::ceres::ParameterBlock::localParameterizationPtr_

protected

The local parameterisation object to use.

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

okvis_ceres/include/okvis/ceres/ParameterBlock.hpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation