LocalParamizationAdditionalInterfaces.hpp

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/*********************************************************************************
 *  OKVIS - Open Keyframe-based Visual-Inertial SLAM
 *  Copyright (c) 2015, Autonomous Systems Lab / ETH Zurich
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 *  Created on: Feb 2, 2014
 *      Author: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *********************************************************************************/

#ifndef INCLUDE_OKVIS_CERES_LOCALPARAMIZATIONADDITIONALINTERFACES_HPP_
#define INCLUDE_OKVIS_CERES_LOCALPARAMIZATIONADDITIONALINTERFACES_HPP_

#include "ceres/ceres.h"
#include <okvis/assert_macros.hpp>

namespace okvis {
namespace ceres {

class LocalParamizationAdditionalInterfaces {
 public:

  virtual ~LocalParamizationAdditionalInterfaces() {
  }

  virtual bool Minus(const double* x, const double* x_plus_delta,
                     double* delta) const = 0;

  virtual bool ComputeLiftJacobian(const double* x, double* jacobian) const = 0;

  virtual bool verify(const double* x_raw, double purturbation_magnitude = 1.0e-6) const ;
};

}  // namespace ceres
}  // namespace okvis

#endif /* INCLUDE_OKVIS_CERES_LOCALPARAMIZATIONADDITIONALINTERFACES_HPP_ */