Absolute error of a pose. More...

#include <PoseError.hpp>

Inheritance diagram for okvis::ceres::PoseError:

Public Types
typedef Eigen::Matrix< double, 6, 6 >	information_t
	The information matrix type (6x6). More...

typedef Eigen::Matrix< double, 6, 6 >	covariance_t
	The covariance matrix type (same as information). More...

Public Member Functions
	PoseError ()
	Default constructor. More...

	PoseError (const okvis::kinematics::Transformation &measurement, const Eigen::Matrix< double, 6, 6 > &information)
	Construct with measurement and information matrix. More...

	PoseError (const okvis::kinematics::Transformation &measurement, double translationVariance, double rotationVariance)
	Construct with measurement and variance. More...

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

virtual bool	Evaluate (double const const parameters, double residuals, double *jacobians) const
	This evaluates the error term and additionally computes the Jacobians. More...

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

size_t	residualDim () const
	Residual dimension. More...

size_t	parameterBlocks () const
	Number of parameter blocks. More...

size_t	parameterBlockDim (size_t parameterBlockId) const
	Dimension of an individual parameter block. More...

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

Setters
void	setMeasurement (const okvis::kinematics::Transformation &measurement)
	Set the measurement. More...

void	setInformation (const information_t &information)
	Set the information. More...

Getters
const okvis::kinematics::Transformation &	measurement () const
	Get the measurement. More...

const information_t &	information () const
	Get the information matrix. More...

const information_t &	covariance () const
	Get the covariance matrix. More...

Public Member Functions inherited from okvis::ceres::ErrorInterface
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	ErrorInterface ()
	Constructor. More...

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

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef::ceres::SizedCostFunction< 6, 7 >	base_t
	The base class type. More...

Static Public Attributes
static const int	kNumResiduals = 6
	The number of residuals (6). More...

Protected Attributes
okvis::kinematics::Transformation	measurement_
	The pose measurement. More...

information_t	information_
	The 6x6 information matrix. More...

information_t	squareRootInformation_
	The 6x6 square root information matrix. More...

covariance_t	covariance_
	The 6x6 covariance matrix. More...

Detailed Description

Absolute error of a pose.

Member Typedef Documentation

typedef Eigen::Matrix<double, 6, 6> okvis::ceres::PoseError::covariance_t

The covariance matrix type (same as information).

typedef Eigen::Matrix<double, 6, 6> okvis::ceres::PoseError::information_t

The information matrix type (6x6).

Constructor & Destructor Documentation

okvis::ceres::PoseError::PoseError ( )

inline

Default constructor.

okvis::ceres::PoseError::PoseError	(	const okvis::kinematics::Transformation &	measurement,
		const Eigen::Matrix< double, 6, 6 > &	information
	)

Construct with measurement and information matrix.

Parameters

[in]	measurement	The measurement.
[in]	information	The information (weight) matrix.

okvis::ceres::PoseError::PoseError	(	const okvis::kinematics::Transformation &	measurement,
		double	translationVariance,
		double	rotationVariance
	)

Construct with measurement and variance.

Parameters

[in]	measurement	The measurement.
[in]	translationVariance	The translation variance.
[in]	rotationVariance	The rotation variance.

virtual okvis::ceres::PoseError::~PoseError ( )

inlinevirtual

Trivial destructor.

Member Function Documentation

const information_t& okvis::ceres::PoseError::covariance ( ) const

inline

Get the covariance matrix.

Returns: The inverse information (covariance) matrix.

bool okvis::ceres::PoseError::Evaluate	(	double const const	parameters,
		double *	residuals,
		double **	jacobians
	)		const

virtual

This evaluates the error term and additionally computes the Jacobians.

Parameters

parameters	Pointer to the parameters (see ceres)
residuals	Pointer to the residual vector (see ceres)
jacobians	Pointer to the Jacobians (see ceres)

Returns: success of th evaluation.

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

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.

Implements okvis::ceres::ErrorInterface.

const information_t& okvis::ceres::PoseError::information ( ) const

inline

Get the information matrix.

Returns: The information (weight) matrix.

const okvis::kinematics::Transformation& okvis::ceres::PoseError::measurement ( ) const

inline

Get the measurement.

Returns: The measurement vector.

size_t okvis::ceres::PoseError::parameterBlockDim ( size_t parameterBlockId ) const

inlinevirtual

Dimension of an individual parameter block.

Implements okvis::ceres::ErrorInterface.

size_t okvis::ceres::PoseError::parameterBlocks ( ) const

inlinevirtual

Number of parameter blocks.

Implements okvis::ceres::ErrorInterface.

size_t okvis::ceres::PoseError::residualDim ( ) const

inlinevirtual

Residual dimension.

Implements okvis::ceres::ErrorInterface.

void okvis::ceres::PoseError::setInformation ( const information_t & information )

Set the information.

Parameters

[in] information The information (weight) matrix.

void okvis::ceres::PoseError::setMeasurement ( const okvis::kinematics::Transformation & measurement )

inline

Set the measurement.

Parameters

[in] measurement The measurement.

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

inlinevirtual

Return parameter block type as string.

Implements okvis::ceres::ErrorInterface.

Member Data Documentation

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ::ceres::SizedCostFunction<6, 7> okvis::ceres::PoseError::base_t

The base class type.

covariance_t okvis::ceres::PoseError::covariance_

protected

The 6x6 covariance matrix.

information_t okvis::ceres::PoseError::information_

protected

The 6x6 information matrix.

const int okvis::ceres::PoseError::kNumResiduals = 6

static

The number of residuals (6).

okvis::kinematics::Transformation okvis::ceres::PoseError::measurement_

protected

The pose measurement.

information_t okvis::ceres::PoseError::squareRootInformation_

protected

The 6x6 square root information matrix.

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

okvis_ceres/include/okvis/ceres/PoseError.hpp
okvis_ceres/src/PoseError.cpp

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation