ParameterBlock.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: Aug 30, 2013
 *      Author: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *********************************************************************************/

#ifndef INCLUDE_OKVIS_CERES_PARAMETERBLOCK_HPP_
#define INCLUDE_OKVIS_CERES_PARAMETERBLOCK_HPP_

#include <stdio.h>
#include <iostream>
#include <stdint.h>
#include "ceres/ceres.h"

namespace okvis {
namespace ceres {

class ParameterBlock {
 public:

  ParameterBlock()
      : id_(0),
        fixed_(false),
        localParameterizationPtr_(0) {
  }

  virtual ~ParameterBlock() {
  }


  void setId(uint64_t id) {
    id_ = id;
  }

  virtual void setParameters(const double* parameters) = 0;

  void setFixed(bool fixed) {
    fixed_ = fixed;
  }



  virtual double* parameters() = 0;

  virtual const double* parameters() const = 0;

  uint64_t id() const {
    return id_;
  }
  virtual size_t dimension() const = 0;

  virtual size_t minimalDimension() const = 0;

  bool fixed() const {
    return fixed_;
  }

  // minimal internal parameterization
  virtual void plus(const double* x0, const double* Delta_Chi,
                    double* x0_plus_Delta) const = 0;

  virtual void plusJacobian(const double* x0, double* jacobian) const = 0;

  virtual void minus(const double* x0, const double* x0_plus_Delta,
                     double* Delta_Chi) const = 0;

  virtual void liftJacobian(const double* x0, double* jacobian) const = 0;


  virtual void setLocalParameterizationPtr(
      const ::ceres::LocalParameterization* localParameterizationPtr) {
    localParameterizationPtr_ = localParameterizationPtr;
  }
  virtual const ::ceres::LocalParameterization* localParameterizationPtr() const {
    return localParameterizationPtr_;
  }
  virtual std::string typeInfo() const = 0;

 protected:
  uint64_t id_;
  bool fixed_;
  const ::ceres::LocalParameterization* localParameterizationPtr_;
};

}  // namespace ceres
}  // namespace okvis

#endif /* INCLUDE_OKVIS_CERES_PARAMETERBLOCK_HPP_ */