Wraps the parameter block for a speed / IMU biases estimate. More...

#include <HomogeneousPointParameterBlock.hpp>

Inheritance diagram for okvis::ceres::HomogeneousPointParameterBlock:

Public Types
typedef Eigen::Vector4d	estimate_t
	The estimate type (4D vector). More...

typedef ParameterBlockSized < 4, 3, estimate_t >	base_t
	The base class type. More...

Public Types inherited from okvis::ceres::ParameterBlockSized< 4, 3, Eigen::Vector4d >
typedef Eigen::Vector4d	parameter_t
	Make the parameter type accessible. More...

Public Member Functions
	HomogeneousPointParameterBlock ()
	Default constructor (assumes not fixed). More...

	HomogeneousPointParameterBlock (const Eigen::Vector4d &point, uint64_t id, bool initialized=true)
	Constructor with estimate and time. More...

	HomogeneousPointParameterBlock (const Eigen::Vector3d &point, uint64_t id, bool initialized=true)
	Constructor with estimate and time. More...

virtual	~HomogeneousPointParameterBlock ()
	Trivial destructor. More...

virtual void	plus (const double x0, const double Delta_Chi, double *x0_plus_Delta) const
	Generalization of the addition operation, x_plus_delta = Plus(x, delta) with the condition that Plus(x, 0) = x. More...

virtual void	plusJacobian (const double x0, double jacobian) const
	The jacobian of Plus(x, delta) w.r.t delta at delta = 0. More...

virtual void	minus (const double x0, const double x0_plus_Delta, double *Delta_Chi) const
	Computes the minimal difference between a variable x and a perturbed variable x_plus_delta. More...

virtual void	liftJacobian (const double x0, double jacobian) const
	Computes the Jacobian from minimal space to naively overparameterised space as used by ceres. More...

virtual std::string	typeInfo () const
	Return parameter block type as string. More...

Setters
virtual void	setEstimate (const Eigen::Vector4d &point)
	Set estimate of this parameter block. More...

void	setInitialized (bool initialized)
	Set initialisaiton status. More...

Getters
virtual Eigen::Vector4d	estimate () const
	Get estimate. More...

bool	initialized () const
	Get initialisaiton status. More...

Public Member Functions inherited from okvis::ceres::ParameterBlockSized< 4, 3, Eigen::Vector4d >
	ParameterBlockSized ()
	Default constructor – initialises elements in parametes_ to zero. More...

virtual	~ParameterBlockSized ()
	Trivial destructor. More...

virtual void	setParameters (const double *parameters)
	Set exact parameters of this parameter block. More...

virtual double *	parameters ()
	Get parameters – as a pointer. More...

virtual const double *	parameters () const
	Get parameters – as a pointer. More...

virtual size_t	dimension () const
	Get the parameter dimension. More...

virtual size_t	minimalDimension () const
	Get the internal minimal parameter dimension. More...

virtual bool	read (std::istream &)

virtual bool	write (std::ostream &) const
	Writing to file – not implemented. More...

Public Member Functions inherited from okvis::ceres::ParameterBlock
	ParameterBlock ()
	Default constructor, assumes not fixed and no local parameterisation. More...

virtual	~ParameterBlock ()
	Trivial destructor. More...

void	setId (uint64_t id)
	Set parameter block ID. More...

void	setFixed (bool fixed)
	Whether or not this should be optimised at all. More...

uint64_t	id () const
	Get parameter block ID. More...

bool	fixed () const
	Whether or not this is optimised at all. More...

virtual void	setLocalParameterizationPtr (const ::ceres::LocalParameterization *localParameterizationPtr)
	Set which local parameterisation object to use. More...

virtual const ::ceres::LocalParameterization *	localParameterizationPtr () const
	The local parameterisation object to use. More...

Private Attributes
bool	initialized_
	Whether or not the 3d position is considered initialised. More...

Additional Inherited Members
Static Public Attributes inherited from okvis::ceres::ParameterBlockSized< 4, 3, Eigen::Vector4d >
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW const int	Dimension
	Dimension of the parameter block. More...

static const int	MinimalDimension
	Internal (minimal) dimension. More...

Protected Attributes inherited from okvis::ceres::ParameterBlockSized< 4, 3, Eigen::Vector4d >
double	parameters_ [Dimension]
	Parameters. More...

Protected Attributes inherited from okvis::ceres::ParameterBlock
uint64_t	id_
	ID of the parameter block. More...

bool	fixed_
	Whether or not this should be optimised at all (ceres::problem::setFixed) More...

const ::ceres::LocalParameterization *	localParameterizationPtr_
	The local parameterisation object to use. More...

Detailed Description

Wraps the parameter block for a speed / IMU biases estimate.

Member Typedef Documentation

typedef ParameterBlockSized<4, 3, estimate_t> okvis::ceres::HomogeneousPointParameterBlock::base_t

The base class type.

typedef Eigen::Vector4d okvis::ceres::HomogeneousPointParameterBlock::estimate_t

The estimate type (4D vector).

Constructor & Destructor Documentation

okvis::ceres::HomogeneousPointParameterBlock::HomogeneousPointParameterBlock ( )

Default constructor (assumes not fixed).

okvis::ceres::HomogeneousPointParameterBlock::HomogeneousPointParameterBlock	(	const Eigen::Vector4d &	point,
		uint64_t	id,
		bool	initialized = `true`
	)

Constructor with estimate and time.

Parameters

[in]	point	The homogeneous point estimate.
[in]	id	The (unique) ID of this block.
[in]	initialized	Whether or not the 3d position is considered initialised.

okvis::ceres::HomogeneousPointParameterBlock::HomogeneousPointParameterBlock	(	const Eigen::Vector3d &	point,
		uint64_t	id,
		bool	initialized = `true`
	)

Constructor with estimate and time.

Parameters

[in]	point	The homogeneous point estimate.
[in]	id	The (unique) ID of this block.
[in]	initialized	Whether or not the 3d position is considered initialised.

okvis::ceres::HomogeneousPointParameterBlock::~HomogeneousPointParameterBlock ( )

virtual

Trivial destructor.

Member Function Documentation

Eigen::Vector4d okvis::ceres::HomogeneousPointParameterBlock::estimate ( ) const

virtual

Get estimate.

Returns: The estimate.

Implements okvis::ceres::ParameterBlockSized< 4, 3, Eigen::Vector4d >.

bool okvis::ceres::HomogeneousPointParameterBlock::initialized ( ) const

inline

Get initialisaiton status.

Returns: Whether or not the 3d position is considered initialised.

virtual void okvis::ceres::HomogeneousPointParameterBlock::liftJacobian	(	const double *	x0,
		double *	jacobian
	)		const

inlinevirtual

Computes the Jacobian from minimal space to naively overparameterised space as used by ceres.

Parameters

[in]	x0	Variable.
[out]	jacobian	the Jacobian (dimension minDim x dim).

Returns: True on success.

Implements okvis::ceres::ParameterBlock.

virtual void okvis::ceres::HomogeneousPointParameterBlock::minus	(	const double *	x0,
		const double *	x0_plus_Delta,
		double *	Delta_Chi
	)		const

inlinevirtual

Computes the minimal difference between a variable x and a perturbed variable x_plus_delta.

Parameters

[in]	x0	Variable.
[in]	x0_plus_Delta	Perturbed variable.
[out]	Delta_Chi	Minimal difference.

Returns: True on success.

Implements okvis::ceres::ParameterBlock.

virtual void okvis::ceres::HomogeneousPointParameterBlock::plus	(	const double *	x0,
		const double *	Delta_Chi,
		double *	x0_plus_Delta
	)		const

inlinevirtual

Generalization of the addition operation, x_plus_delta = Plus(x, delta) with the condition that Plus(x, 0) = x.

Parameters

[in]	x0	Variable.
[in]	Delta_Chi	Perturbation.
[out]	x0_plus_Delta	Perturbed x.

Implements okvis::ceres::ParameterBlock.

virtual void okvis::ceres::HomogeneousPointParameterBlock::plusJacobian	(	const double *	x0,
		double *	jacobian
	)		const

inlinevirtual

The jacobian of Plus(x, delta) w.r.t delta at delta = 0.

Parameters

[in]	x0	Variable.
[out]	jacobian	The Jacobian.

Implements okvis::ceres::ParameterBlock.

void okvis::ceres::HomogeneousPointParameterBlock::setEstimate ( const Eigen::Vector4d & point )

virtual

Set estimate of this parameter block.

Parameters

[in] point The estimate to set this to.

Implements okvis::ceres::ParameterBlockSized< 4, 3, Eigen::Vector4d >.

void okvis::ceres::HomogeneousPointParameterBlock::setInitialized ( bool initialized )

inline

Set initialisaiton status.

Parameters

[in] initialized Whether or not the 3d position is considered initialised.

virtual std::string okvis::ceres::HomogeneousPointParameterBlock::typeInfo ( ) const

inlinevirtual

Return parameter block type as string.

Implements okvis::ceres::ParameterBlock.

Member Data Documentation

bool okvis::ceres::HomogeneousPointParameterBlock::initialized_

private

Whether or not the 3d position is considered initialised.

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

okvis/okvis_ceres/include/okvis/ceres/HomogeneousPointParameterBlock.hpp
okvis/okvis_ceres/src/HomogeneousPointParameterBlock.cpp

Public Types

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation