SpeedAndBiasParameterBlock.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_SPEEDANDBIASPARAMETERBLOCK_HPP_
#define INCLUDE_OKVIS_CERES_SPEEDANDBIASPARAMETERBLOCK_HPP_

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

namespace okvis {
namespace ceres {

typedef Eigen::Matrix<double, 9, 1> SpeedAndBias;

class SpeedAndBiasParameterBlock :
    public ParameterBlockSized<9, 9, SpeedAndBias> {
 public:

  typedef ParameterBlockSized<9, 9, SpeedAndBias> base_t;

  typedef SpeedAndBias estimate_t;

  SpeedAndBiasParameterBlock();

  SpeedAndBiasParameterBlock(const SpeedAndBias& speedAndBias, uint64_t id,
                             const okvis::Time& timestamp);

  virtual ~SpeedAndBiasParameterBlock();

  // setters
  virtual void setEstimate(const SpeedAndBias& speedAndBias);

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

  // getters
  virtual SpeedAndBias 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 {
    Eigen::Map<const Eigen::Matrix<double, 9, 1> > x0_(x0);
    Eigen::Map<const Eigen::Matrix<double, 9, 1> > Delta_Chi_(Delta_Chi);
    Eigen::Map<Eigen::Matrix<double, 9, 1> > x0_plus_Delta_(x0_plus_Delta);
    x0_plus_Delta_ = x0_ + Delta_Chi_;
  }

//  /// @param[in] x0 Variable.
  virtual void plusJacobian(const double* /*unused: x*/,
                            double* jacobian) const {
    Eigen::Map<Eigen::Matrix<double, 9, 9, Eigen::RowMajor> > identity(
        jacobian);
    identity.setIdentity();
  }

  // Delta_Chi=x0_plus_Delta[-]x0
  virtual void minus(const double* x0, const double* x0_plus_Delta,
                     double* Delta_Chi) const {
    Eigen::Map<const Eigen::Matrix<double, 9, 1> > x0_(x0);
    Eigen::Map<Eigen::Matrix<double, 9, 1> > Delta_Chi_(Delta_Chi);
    Eigen::Map<const Eigen::Matrix<double, 9, 1> > x0_plus_Delta_(
        x0_plus_Delta);
    Delta_Chi_ = x0_plus_Delta_ - x0_;
  }

//  /// @param[in] x0 Variable.
  virtual void liftJacobian(const double* /*unused: x*/,
                            double* jacobian) const {
    Eigen::Map<Eigen::Matrix<double, 9, 9, Eigen::RowMajor> > identity(
        jacobian);
    identity.setIdentity();
  }

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

 private:
  okvis::Time timestamp_; 
};

}  // namespace ceres
}  // namespace okvis

#endif /* INCLUDE_OKVIS_CERES_SPEEDANDBIASPARAMETERBLOCK_HPP_ */