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okvis::ceres::ErrorInterface Class Referenceabstract

Simple interface class the errors implemented here should inherit from. More...

#include <ErrorInterface.hpp>

Inheritance diagram for okvis::ceres::ErrorInterface:
okvis::ceres::HomogeneousPointError okvis::ceres::ImuError okvis::ceres::MarginalizationError okvis::ceres::PoseError okvis::ceres::RelativePoseError okvis::ceres::ReprojectionErrorBase okvis::ceres::SpeedAndBiasError okvis::ceres::ReprojectionError2dBase okvis::ceres::ReprojectionError< GEOMETRY_TYPE >

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW ErrorInterface ()
 Constructor. More...
 
virtual ~ErrorInterface ()
 Destructor (does nothing). More...
 
virtual bool EvaluateWithMinimalJacobians (double const *const *parameters, double *residuals, double **jacobians, double **jacobiansMinimal) const =0
 This evaluates the error term and additionally computes the Jacobians in the minimal internal representation. More...
 
virtual std::string typeInfo () const =0
 Residual block type as string. More...
 
Sizes
virtual size_t residualDim () const =0
 Get dimension of residuals. More...
 
virtual size_t parameterBlocks () const =0
 Get the number of parameter blocks this is connected to. More...
 
virtual size_t parameterBlockDim (size_t parameterBlockId) const =0
 get the dimension of a parameter block this is connected to. More...
 

Detailed Description

Simple interface class the errors implemented here should inherit from.

Constructor & Destructor Documentation

EIGEN_MAKE_ALIGNED_OPERATOR_NEW okvis::ceres::ErrorInterface::ErrorInterface ( )
inline

Constructor.

virtual okvis::ceres::ErrorInterface::~ErrorInterface ( )
inlinevirtual

Destructor (does nothing).

Member Function Documentation

virtual bool okvis::ceres::ErrorInterface::EvaluateWithMinimalJacobians ( double const *const *  parameters,
double *  residuals,
double **  jacobians,
double **  jacobiansMinimal 
) const
pure virtual

This evaluates the error term and additionally computes the Jacobians in the minimal internal representation.

Parameters
parametersPointer to the parameters (see ceres)
residualsPointer to the residual vector (see ceres)
jacobiansPointer to the Jacobians (see ceres)
jacobiansMinimalPointer to the minimal Jacobians (equivalent to jacobians).
Returns
Success of the evaluation.

Implemented in okvis::ceres::ImuError, okvis::ceres::MarginalizationError, okvis::ceres::ReprojectionError< GEOMETRY_TYPE >, okvis::ceres::PoseError, okvis::ceres::SpeedAndBiasError, okvis::ceres::HomogeneousPointError, and okvis::ceres::RelativePoseError.

virtual size_t okvis::ceres::ErrorInterface::parameterBlockDim ( size_t  parameterBlockId) const
pure virtual

get the dimension of a parameter block this is connected to.

Parameters
parameterBlockIdThe ID of the parameter block of interest.
Returns
Its dimension.

Implemented in okvis::ceres::ImuError, okvis::ceres::MarginalizationError, okvis::ceres::ReprojectionError< GEOMETRY_TYPE >, okvis::ceres::PoseError, okvis::ceres::SpeedAndBiasError, okvis::ceres::HomogeneousPointError, and okvis::ceres::RelativePoseError.

virtual size_t okvis::ceres::ErrorInterface::parameterBlocks ( ) const
pure virtual
virtual size_t okvis::ceres::ErrorInterface::residualDim ( ) const
pure virtual
virtual std::string okvis::ceres::ErrorInterface::typeInfo ( ) const
pure virtual

The documentation for this class was generated from the following file: