PoseParameterBlock.hpp

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/*********************************************************************************
 *  OKVIS - Open Keyframe-based Visual-Inertial SLAM
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 *  Created on: Aug 30, 2013
 *      Author: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *********************************************************************************/

#ifndef INCLUDE_OKVIS_CERES_POSEPARAMETERBLOCK_HPP_
#define INCLUDE_OKVIS_CERES_POSEPARAMETERBLOCK_HPP_

#include <Eigen/Core>
#include <okvis/ceres/ParameterBlockSized.hpp>
#include <okvis/ceres/PoseLocalParameterization.hpp>
#include <okvis/kinematics/Transformation.hpp>
#include <okvis/Time.hpp>

namespace okvis {
namespace ceres{

class PoseParameterBlock : public ParameterBlockSized<7,6,okvis::kinematics::Transformation>{
public:

  typedef okvis::kinematics::Transformation estimate_t;

  typedef ParameterBlockSized<7,6,estimate_t> base_t;

  PoseParameterBlock();

  PoseParameterBlock(const okvis::kinematics::Transformation& T_WS, uint64_t id, const okvis::Time& timestamp);

  virtual ~PoseParameterBlock();

  // setters
  virtual void setEstimate(const okvis::kinematics::Transformation& T_WS);

  void setTimestamp(const okvis::Time& timestamp){timestamp_=timestamp;}

  // getters
  virtual okvis::kinematics::Transformation estimate() const;

  okvis::Time timestamp() const {return timestamp_;}

  // minimal internal parameterization
  // x0_plus_Delta=Delta_Chi[+]x0
  virtual void plus(const double* x0, const double* Delta_Chi, double* x0_plus_Delta) const {
    PoseLocalParameterization::plus(x0,Delta_Chi,x0_plus_Delta);
  }

  virtual void plusJacobian(const double* x0, double* jacobian) const {
    PoseLocalParameterization::plusJacobian(x0,jacobian);
  }

  // Delta_Chi=x0_plus_Delta[-]x0
  virtual void minus(const double* x0, const double* x0_plus_Delta, double* Delta_Chi) const {
    PoseLocalParameterization::minus(x0, x0_plus_Delta, Delta_Chi);
  }

  virtual void liftJacobian(const double* x0, double* jacobian) const {
    PoseLocalParameterization::liftJacobian(x0,jacobian);
  }

  virtual std::string typeInfo() const {return "PoseParameterBlock";}

private:
  okvis::Time timestamp_; 
};

} // namespace ceres
} // namespace okvis

#endif /* INCLUDE_OKVIS_CERES_POSEPARAMETERBLOCK_HPP_ */