Pose local parameterisation, i.e. for orientation dq(dalpha) x q_bar. Here, we only perturb roll and pitch, i.e. dalpha = [dalpha1, dalpha2, 0]^T. More...

#include <PoseLocalParameterization.hpp>

Inheritance diagram for okvis::ceres::PoseLocalParameterization2d:

Public Member Functions
virtual	~PoseLocalParameterization2d ()
	Trivial destructor. More...

virtual bool	Plus (const double x, const double delta, double *x_plus_delta) const
	Generalization of the addition operation, x_plus_delta = Plus(x, delta) with the condition that Plus(x, 0) = x. More...

virtual bool	Minus (const double x, const double x_plus_delta, double *delta) const
	Computes the minimal difference between a variable x and a perturbed variable x_plus_delta. More...

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

virtual bool	ComputeLiftJacobian (const double x, double jacobian) const
	Computes the Jacobian from minimal space to naively overparameterised space as used by ceres. More...

virtual int	GlobalSize () const
	The parameter block dimension. More...

virtual int	LocalSize () const
	The parameter block local dimension. More...

Public Member Functions inherited from okvis::ceres::LocalParamizationAdditionalInterfaces
virtual	~LocalParamizationAdditionalInterfaces ()
	Trivial destructor. More...

virtual bool	verify (const double *x_raw, double purturbation_magnitude=1.0e-6) const
	Verifies the correctness of an inplementation by means of numeric Jacobians. More...

Static Public Member Functions
static bool	plusJacobian (const double x, double jacobian)
	The jacobian of Plus(x, delta) w.r.t delta at delta = 0. More...

static bool	liftJacobian (const double x, double jacobian)
	Computes the Jacobian from minimal space to naively overparameterised space as used by ceres. More...

Detailed Description

Pose local parameterisation, i.e. for orientation dq(dalpha) x q_bar. Here, we only perturb roll and pitch, i.e. dalpha = [dalpha1, dalpha2, 0]^T.

Constructor & Destructor Documentation

virtual okvis::ceres::PoseLocalParameterization2d::~PoseLocalParameterization2d ( )

inlinevirtual

Trivial destructor.

Member Function Documentation

bool okvis::ceres::PoseLocalParameterization2d::ComputeJacobian	(	const double *	x,
		double *	jacobian
	)		const

virtual

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

Parameters

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

bool okvis::ceres::PoseLocalParameterization2d::ComputeLiftJacobian	(	const double *	x,
		double *	jacobian
	)		const

virtual

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

Parameters

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

Returns: True on success.

Implements okvis::ceres::LocalParamizationAdditionalInterfaces.

virtual int okvis::ceres::PoseLocalParameterization2d::GlobalSize ( ) const

inlinevirtual

The parameter block dimension.

bool okvis::ceres::PoseLocalParameterization2d::liftJacobian	(	const double *	x,
		double *	jacobian
	)

static

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

Parameters

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

Returns: True on success.

virtual int okvis::ceres::PoseLocalParameterization2d::LocalSize ( ) const

inlinevirtual

The parameter block local dimension.

bool okvis::ceres::PoseLocalParameterization2d::Minus	(	const double *	x,
		const double *	x_plus_delta,
		double *	delta
	)		const

virtual

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

Parameters

[in]	x	Variable.
[in]	x_plus_delta	Perturbed variable.
[out]	delta	minimal difference.

Returns: True on success.

Implements okvis::ceres::LocalParamizationAdditionalInterfaces.

bool okvis::ceres::PoseLocalParameterization2d::Plus	(	const double *	x,
		const double *	delta,
		double *	x_plus_delta
	)		const

virtual

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

Parameters

[in]	x	Variable.
[in]	delta	Perturbation.
[out]	x_plus_delta	Perturbed x.

bool okvis::ceres::PoseLocalParameterization2d::plusJacobian	(	const double *	x,
		double *	jacobian
	)

static

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

Parameters

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

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

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

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation