ParameterBlockSized.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: Sep 8, 2013
 *      Author: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *********************************************************************************/

#ifndef INCLUDE_OKVIS_CERES_PARAMETERBLOCKSIZED_HPP_
#define INCLUDE_OKVIS_CERES_PARAMETERBLOCKSIZED_HPP_

#include <stdio.h>
#include <iostream>
#include <stdint.h>
#include <okvis/ceres/ParameterBlock.hpp>
#include <okvis/assert_macros.hpp>
#include <Eigen/Core>

namespace okvis {
namespace ceres {

template<int Dim, int MinDim, class T>
class ParameterBlockSized : public okvis::ceres::ParameterBlock {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  OKVIS_DEFINE_EXCEPTION(Exception,std::runtime_error)

  
  static const int Dimension = Dim;

  static const int MinimalDimension = MinDim;

  typedef T parameter_t;

  ParameterBlockSized() {
    for (int i = 0; i < Dimension; ++i)
      parameters_[i] = 0;
  }

  virtual ~ParameterBlockSized() {
  }


  virtual void setEstimate(const parameter_t& estimate)=0;

  virtual void setParameters(const double* parameters) {
    OKVIS_ASSERT_TRUE_DBG(Exception, parameters != 0, "Null pointer");
    memcpy(parameters_, parameters, Dimension * sizeof(double));
  }



  virtual parameter_t estimate() const = 0;

  virtual double* parameters() {
    return parameters_;
  }

  virtual const double* parameters() const {
    return parameters_;
  }

  virtual size_t dimension() const {
    return Dimension;
  }

  virtual size_t minimalDimension() const {
    return MinimalDimension;
  }


  virtual bool read(std::istream& /*not implemented: is*/) {
    return false;
  }

  virtual bool write(std::ostream& /*not implemented: os*/) const {
    return false;
  }

 protected:
  double parameters_[Dimension];
};

}  // namespace ceres
}  // namespace okvis

#endif /* INCLUDE_OKVIS_CERES_PARAMETERBLOCKSIZED_HPP_ */