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ErrorInterface.hpp
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29  * Created on: Sep 12, 2013
30  * Author: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
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32 
40 #ifndef INCLUDE_OKVIS_CERES_ERRORINTERFACE_HPP_
41 #define INCLUDE_OKVIS_CERES_ERRORINTERFACE_HPP_
42 
43 #include <vector>
44 #include <Eigen/Core>
45 #include <okvis/assert_macros.hpp>
46 
48 namespace okvis {
50 namespace ceres {
51 
54  public:
55  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
56  OKVIS_DEFINE_EXCEPTION(Exception, std::runtime_error)
57 
58 
60  }
62  virtual ~ErrorInterface() {
63  }
64 
67 
70  virtual size_t residualDim() const = 0;
71 
74  virtual size_t parameterBlocks() const = 0;
75 
81  virtual size_t parameterBlockDim(size_t parameterBlockId) const = 0;
82 
84  // Error and Jacobian computation
94  virtual bool EvaluateWithMinimalJacobians(
95  double const* const * parameters, double* residuals, double** jacobians,
96  double** jacobiansMinimal) const = 0;
97 
99  virtual std::string typeInfo() const = 0;
100 };
101 
102 } // namespace ceres
103 } // namespace okvis
104 
105 #endif /* INCLUDE_OKVIS_CERES_ERRORINTERFACE_HPP_ */
virtual size_t residualDim() const =0
Get dimension of residuals.
virtual size_t parameterBlocks() const =0
Get the number of parameter blocks this is connected to.
virtual size_t parameterBlockDim(size_t parameterBlockId) const =0
get the dimension of a parameter block this is connected to.
Simple interface class the errors implemented here should inherit from.
Definition: ErrorInterface.hpp:53
#define OKVIS_DEFINE_EXCEPTION(exceptionName, exceptionParent)
Macro for defining an exception with a given parent.
Definition: assert_macros.hpp:52
This file contains some useful assert macros.
virtual std::string typeInfo() const =0
Residual block type as string.
virtual bool EvaluateWithMinimalJacobians(double const *const *parameters, double *residuals, double **jacobians, double **jacobiansMinimal) const =0
This evaluates the error term and additionally computes the Jacobians in the minimal internal represe...
virtual ~ErrorInterface()
Destructor (does nothing).
Definition: ErrorInterface.hpp:62