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LocalParamizationAdditionalInterfaces.hpp
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32 
39 #ifndef INCLUDE_OKVIS_CERES_LOCALPARAMIZATIONADDITIONALINTERFACES_HPP_
40 #define INCLUDE_OKVIS_CERES_LOCALPARAMIZATIONADDITIONALINTERFACES_HPP_
41 
42 #include "ceres/ceres.h"
43 #include <okvis/assert_macros.hpp>
44 
46 namespace okvis {
48 namespace ceres {
49 
53  public:
54 
57  }
58 
64  virtual bool Minus(const double* x, const double* x_plus_delta,
65  double* delta) const = 0;
66 
71  virtual bool ComputeLiftJacobian(const double* x, double* jacobian) const = 0;
72 
77  virtual bool verify(const double* x_raw, double purturbation_magnitude = 1.0e-6) const ;
78 };
79 
80 } // namespace ceres
81 } // namespace okvis
82 
83 #endif /* INCLUDE_OKVIS_CERES_LOCALPARAMIZATIONADDITIONALINTERFACES_HPP_ */
virtual bool Minus(const double *x, const double *x_plus_delta, double *delta) const =0
Computes the minimal difference between a variable x and a perturbed variable x_plus_delta.
Provides some additional interfaces to ceres' LocalParamization than are needed in the generic margin...
Definition: LocalParamizationAdditionalInterfaces.hpp:52
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.
Definition: LocalParamizationAdditionalInterfaces.cpp:14
virtual bool ComputeLiftJacobian(const double *x, double *jacobian) const =0
Computes the Jacobian from minimal space to naively overparameterised space as used by ceres...
This file contains some useful assert macros.
virtual ~LocalParamizationAdditionalInterfaces()
Trivial destructor.
Definition: LocalParamizationAdditionalInterfaces.hpp:56