Wraps the parameter block for a pose estimate. More...

#include <PoseParameterBlock.hpp>

Inheritance diagram for okvis::ceres::PoseParameterBlock:

Public Types
typedef okvis::kinematics::Transformation	estimate_t
	The estimate type (okvis::kinematics::Transformation ). More...

typedef ParameterBlockSized < 7, 6, estimate_t >	base_t
	The base class type. More...

Public Types inherited from okvis::ceres::ParameterBlockSized< 7, 6, okvis::kinematics::Transformation >
typedef okvis::kinematics::Transformation	parameter_t
	Make the parameter type accessible. More...

Public Member Functions
	PoseParameterBlock ()
	Default constructor (assumes not fixed). More...

	PoseParameterBlock (const okvis::kinematics::Transformation &T_WS, uint64_t id, const okvis::Time &timestamp)
	Constructor with estimate and time. More...

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

virtual void	setEstimate (const okvis::kinematics::Transformation &T_WS)
	Set estimate of this parameter block. More...

void	setTimestamp (const okvis::Time &timestamp)

virtual okvis::kinematics::Transformation	estimate () const
	Get estimate. More...

okvis::Time	timestamp () const
	Get the time. More...

virtual void	plus (const double x0, const double Delta_Chi, double *x0_plus_Delta) const
	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
	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
	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
	Computes the Jacobian from minimal space to naively overparameterised space as used by ceres. More...

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

Public Member Functions inherited from okvis::ceres::ParameterBlockSized< 7, 6, okvis::kinematics::Transformation >
	ParameterBlockSized ()
	Default constructor – initialises elements in parametes_ to zero. More...

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

virtual void	setParameters (const double *parameters)
	Set exact parameters of this parameter block. More...

virtual double *	parameters ()
	Get parameters – as a pointer. More...

virtual const double *	parameters () const
	Get parameters – as a pointer. More...

virtual size_t	dimension () const
	Get the parameter dimension. More...

virtual size_t	minimalDimension () const
	Get the internal minimal parameter dimension. More...

virtual bool	read (std::istream &)

virtual bool	write (std::ostream &) const
	Writing to file – not implemented. More...

Public Member Functions inherited from okvis::ceres::ParameterBlock
	ParameterBlock ()
	Default constructor, assumes not fixed and no local parameterisation. More...

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

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

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

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

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

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...

Private Attributes
okvis::Time	timestamp_
	Time of this state. More...

Additional Inherited Members
Static Public Attributes inherited from okvis::ceres::ParameterBlockSized< 7, 6, okvis::kinematics::Transformation >
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW const int	Dimension
	Dimension of the parameter block. More...

static const int	MinimalDimension
	Internal (minimal) dimension. More...

Protected Attributes inherited from okvis::ceres::ParameterBlockSized< 7, 6, okvis::kinematics::Transformation >
double	parameters_ [Dimension]
	Parameters. More...

Protected Attributes inherited from okvis::ceres::ParameterBlock
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

Wraps the parameter block for a pose estimate.

Member Typedef Documentation

typedef ParameterBlockSized<7,6,estimate_t> okvis::ceres::PoseParameterBlock::base_t

The base class type.

typedef okvis::kinematics::Transformation okvis::ceres::PoseParameterBlock::estimate_t

The estimate type (okvis::kinematics::Transformation ).

Constructor & Destructor Documentation

okvis::ceres::PoseParameterBlock::PoseParameterBlock ( )

Default constructor (assumes not fixed).

okvis::ceres::PoseParameterBlock::PoseParameterBlock	(	const okvis::kinematics::Transformation &	T_WS,
		uint64_t	id,
		const okvis::Time &	timestamp
	)

Constructor with estimate and time.

Parameters

[in]	T_WS	The pose estimate as T_WS.
[in]	id	The (unique) ID of this block.
[in]	timestamp	The timestamp of this state.

okvis::ceres::PoseParameterBlock::~PoseParameterBlock ( )

virtual

Trivial destructor.

Member Function Documentation

okvis::kinematics::Transformation okvis::ceres::PoseParameterBlock::estimate ( ) const

virtual

Get estimate.

Returns: The estimate.

Implements okvis::ceres::ParameterBlockSized< 7, 6, okvis::kinematics::Transformation >.

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

inlinevirtual

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.

Implements okvis::ceres::ParameterBlock.

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

inlinevirtual

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.

Implements okvis::ceres::ParameterBlock.

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

inlinevirtual

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.

Implements okvis::ceres::ParameterBlock.

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

inlinevirtual

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

Parameters

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

Implements okvis::ceres::ParameterBlock.

void okvis::ceres::PoseParameterBlock::setEstimate ( const okvis::kinematics::Transformation & T_WS )

virtual

Set estimate of this parameter block.

Parameters

[in] T_WS The estimate to set this to.

Implements okvis::ceres::ParameterBlockSized< 7, 6, okvis::kinematics::Transformation >.

void okvis::ceres::PoseParameterBlock::setTimestamp ( const okvis::Time & timestamp )

inline

Parameters

[in] timestamp The timestamp of this state.

okvis::Time okvis::ceres::PoseParameterBlock::timestamp ( ) const

inline

Get the time.

Returns: The timestamp of this state.

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

inlinevirtual

Return parameter block type as string.

Implements okvis::ceres::ParameterBlock.

Member Data Documentation

okvis::Time okvis::ceres::PoseParameterBlock::timestamp_

private

Time of this state.

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

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

Public Types

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation