#include <SpeedAndBiasError.hpp>

Inheritance diagram for okvis::ceres::SpeedAndBiasError:

Public Types
typedef Eigen::Matrix< double, 9, 9 >	information_t
	The information matrix type (9x9). More...

typedef Eigen::Matrix< double, 9, 9 >	covariance_t
	The covariance matrix type (same as information). More...

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

	SpeedAndBiasError (const okvis::SpeedAndBias &measurement, const information_t &information)
	Construct with measurement and information matrix. More...

	SpeedAndBiasError (const okvis::SpeedAndBiases &measurement, double speedVariance, double gyrBiasVariance, double accBiasVariance)
	Construct with measurement and variance. More...

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

void	setMeasurement (const okvis::SpeedAndBias &measurement)
	Set the measurement. More...

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

const okvis::SpeedAndBias &	measurement () const
	Get the measurement. More...

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

const covariance_t &	covariance () const
	Get the covariance matrix. 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
	Residual block type as string. 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< 9, 9 >	base_t
	The base class type. More...

Static Public Attributes
static const int	kNumResiduals = 9
	Number of residuals (9) More...

Protected Attributes
okvis::SpeedAndBias	measurement_
	The (9D) measurement. More...

information_t	information_
	The 9x9 information matrix. More...

information_t	squareRootInformation_
	The 9x9 square root information matrix. More...

covariance_t	covariance_
	The 9x9 covariance matrix. More...

Member Typedef Documentation

typedef Eigen::Matrix<double, 9, 9> okvis::ceres::SpeedAndBiasError::covariance_t

The covariance matrix type (same as information).

typedef Eigen::Matrix<double, 9, 9> okvis::ceres::SpeedAndBiasError::information_t

The information matrix type (9x9).

Constructor & Destructor Documentation

okvis::ceres::SpeedAndBiasError::SpeedAndBiasError ( )

Default constructor.

okvis::ceres::SpeedAndBiasError::SpeedAndBiasError	(	const okvis::SpeedAndBias &	measurement,
		const information_t &	information
	)

Construct with measurement and information matrix.

Parameters

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

okvis::ceres::SpeedAndBiasError::SpeedAndBiasError	(	const okvis::SpeedAndBiases &	measurement,
		double	speedVariance,
		double	gyrBiasVariance,
		double	accBiasVariance
	)

Construct with measurement and variance.

Parameters

[in]	measurement	The measurement.
[in]	speedVariance	The variance of the speed measurement, i.e. information_ has variance in its diagonal.
[in]	gyrBiasVariance	The variance of the gyro bias measurement, i.e. information_ has variance in its diagonal.
[in]	accBiasVariance	The variance of the accelerometer bias measurement, i.e. information_ has variance in its diagonal.

virtual okvis::ceres::SpeedAndBiasError::~SpeedAndBiasError ( )

inlinevirtual

Trivial destructor.

Member Function Documentation

const covariance_t& okvis::ceres::SpeedAndBiasError::covariance ( ) const

inline

Get the covariance matrix.

Returns: The inverse information (covariance) matrix.

bool okvis::ceres::SpeedAndBiasError::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::SpeedAndBiasError::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::SpeedAndBiasError::information ( ) const

inline

Get the information matrix.

Returns: The information (weight) matrix.

const okvis::SpeedAndBias& okvis::ceres::SpeedAndBiasError::measurement ( ) const

inline

Get the measurement.

Returns: The measurement vector.

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

inlinevirtual

Dimension of an individual parameter block.

Parameters

[in] parameterBlockId ID of the parameter block of interest.

Returns: The dimension.

Implements okvis::ceres::ErrorInterface.

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

inlinevirtual

Number of parameter blocks.

Implements okvis::ceres::ErrorInterface.

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

inlinevirtual

Residual dimension.

Implements okvis::ceres::ErrorInterface.

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

Set the information.

Parameters

[in] information The information (weight) matrix.

void okvis::ceres::SpeedAndBiasError::setMeasurement ( const okvis::SpeedAndBias & measurement )

inline

Set the measurement.

Parameters

[in] measurement The measurement.

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

inlinevirtual

Residual block type as string.

Implements okvis::ceres::ErrorInterface.

Member Data Documentation

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ::ceres::SizedCostFunction<9, 9> okvis::ceres::SpeedAndBiasError::base_t

The base class type.

covariance_t okvis::ceres::SpeedAndBiasError::covariance_

protected

The 9x9 covariance matrix.

information_t okvis::ceres::SpeedAndBiasError::information_

protected

The 9x9 information matrix.

const int okvis::ceres::SpeedAndBiasError::kNumResiduals = 9

static

Number of residuals (9)

okvis::SpeedAndBias okvis::ceres::SpeedAndBiasError::measurement_

protected

The (9D) measurement.

information_t okvis::ceres::SpeedAndBiasError::squareRootInformation_

protected

The 9x9 square root information matrix.

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

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

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Protected Attributes

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation