Implements a nonlinear IMU factor. More...

#include <ImuError.hpp>

Inheritance diagram for okvis::ceres::ImuError:

Public Types
typedef Eigen::Matrix< double, 15, 15 >	covariance_t
	The type of the covariance. More...

typedef covariance_t	information_t
	The type of the information (same matrix dimension as covariance). More...

typedef Eigen::Matrix< double, 15, 15 >	jacobian_t
	The type of hte overall Jacobian. More...

typedef Eigen::Matrix< double, 15, 7 >	jacobian0_t
	The type of the Jacobian w.r.t. poses –. More...

typedef Eigen::Matrix< double, 15, 9 >	jacobian1_t
	The type of Jacobian w.r.t. Speed and biases. More...

Public Member Functions
	ImuError ()
	Default constructor – assumes information recomputation. More...

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

	ImuError (const okvis::ImuMeasurementDeque &imuMeasurements, const okvis::ImuParameters &imuParameters, const okvis::Time &t_0, const okvis::Time &t_1)
	Construct with measurements and parameters. @param[in] imuMeasurements All the IMU measurements. @param[in] imuParameters The parameters to be used. @param[in] t_0 Start time. @param[in] t_1 End time. More...

int	redoPreintegration (const okvis::kinematics::Transformation &T_WS, const okvis::SpeedAndBias &speedAndBiases) const
	Propagates pose, speeds and biases with given IMU measurements. More...

void	setImuParameters (const okvis::ImuParameters &imuParameters)
	(Re)set the parameters. @param[in] imuParameters The parameters to be used. More...

void	setImuMeasurements (const okvis::ImuMeasurementDeque &imuMeasurements)
	(Re)set the measurements @param[in] imuMeasurements All the IMU measurements. More...

void	setT0 (const okvis::Time &t_0)
	(Re)set the start time. @param[in] t_0 Start time. More...

void	setT1 (const okvis::Time &t_1)
	(Re)set the start time. @param[in] t_1 End time. More...

const okvis::ImuParameters &	imuParameters () const
	Get the IMU Parameters. More...

const okvis::ImuMeasurementDeque &	imuMeasurements () const
	Get the IMU measurements. More...

okvis::Time	t0 () const
	Get the start time. More...

okvis::Time	t1 () const
	Get the end time. More...

virtual bool	Evaluate (double const const parameters, double residuals, double *jacobians) const
	This evaluates the error term and additionally computes the Jacobians. More...

bool	EvaluateWithMinimalJacobians (double const const parameters, double residuals, double jacobians, double *jacobiansMinimal) const
	This evaluates the error term and additionally computes the Jacobians in the minimal internal representation. More...

size_t	residualDim () const
	Residual dimension. More...

virtual size_t	parameterBlocks () const
	Number of parameter blocks. More...

size_t	parameterBlockDim (size_t parameterBlockId) const
	Dimension of an individual parameter block. More...

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

Public Member Functions inherited from okvis::ceres::ErrorInterface
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	ErrorInterface ()
	Constructor. More...

virtual	~ErrorInterface ()
	Destructor (does nothing). More...

Static Public Member Functions
static int	propagation (const okvis::ImuMeasurementDeque &imuMeasurements, const okvis::ImuParameters &imuParams, okvis::kinematics::Transformation &T_WS, okvis::SpeedAndBias &speedAndBiases, const okvis::Time &t_start, const okvis::Time &t_end, covariance_t covariance=0, jacobian_t jacobian=0)
	Propagates pose, speeds and biases with given IMU measurements. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef::ceres::SizedCostFunction< 15, 7, 9, 7, 9 >	base_t
	The base in ceres we derive from. More...

Static Public Attributes
static const int	kNumResiduals = 15
	The number of residuals. More...

Protected Attributes
okvis::ImuParameters	imuParameters_
	The IMU parameters. More...

okvis::ImuMeasurementDeque	imuMeasurements_
	The IMU measurements used. Must be spanning t0_ - t1_. More...

okvis::Time	t0_
	The start time (i.e. time of the first set of states). More...

okvis::Time	t1_
	The end time (i.e. time of the sedond set of states). More...

std::mutex	preintegrationMutex_

Eigen::Quaterniond	Delta_q_ = Eigen::Quaterniond(1,0,0,0)
	Intermediate result. More...

Eigen::Matrix3d	C_integral_ = Eigen::Matrix3d::Zero()
	Intermediate result. More...

Eigen::Matrix3d	C_doubleintegral_ = Eigen::Matrix3d::Zero()
	Intermediate result. More...

Eigen::Vector3d	acc_integral_ = Eigen::Vector3d::Zero()
	Intermediate result. More...

Eigen::Vector3d	acc_doubleintegral_ = Eigen::Vector3d::Zero()
	Intermediate result. More...

Eigen::Matrix3d	cross_ = Eigen::Matrix3d::Zero()
	Intermediate result. More...

Eigen::Matrix3d	dalpha_db_g_ = Eigen::Matrix3d::Zero()
	Intermediate result. More...

Eigen::Matrix3d	dv_db_g_ = Eigen::Matrix3d::Zero()
	Intermediate result. More...

Eigen::Matrix3d	dp_db_g_ = Eigen::Matrix3d::Zero()
	Intermediate result. More...

Eigen::Matrix< double, 15, 15 >	P_delta_ = Eigen::Matrix<double,15,15>::Zero()
	The Jacobian of the increment (w/o biases). More...

SpeedAndBiases	speedAndBiases_ref_ = SpeedAndBiases::Zero()
	Reference biases that are updated when called redoPreintegration. More...

bool	redo_ = true
	Keeps track of whether or not this redoPreintegration() needs to be called. More...

int	redoCounter_ = 0
	Counts the number of preintegrations for statistics. More...

information_t	information_
	The information matrix for this error term. More...

information_t	squareRootInformation_
	The square root information matrix for this error term. More...

Detailed Description

Implements a nonlinear IMU factor.

Member Typedef Documentation

typedef Eigen::Matrix<double, 15, 15> okvis::ceres::ImuError::covariance_t

The type of the covariance.

typedef covariance_t okvis::ceres::ImuError::information_t

The type of the information (same matrix dimension as covariance).

typedef Eigen::Matrix<double, 15, 7> okvis::ceres::ImuError::jacobian0_t

The type of the Jacobian w.r.t. poses –.

Warning: This is w.r.t. minimal tangential space coordinates...

typedef Eigen::Matrix<double, 15, 9> okvis::ceres::ImuError::jacobian1_t

The type of Jacobian w.r.t. Speed and biases.

typedef Eigen::Matrix<double, 15, 15> okvis::ceres::ImuError::jacobian_t

The type of hte overall Jacobian.

Constructor & Destructor Documentation

okvis::ceres::ImuError::ImuError ( )

inline

Default constructor – assumes information recomputation.

virtual okvis::ceres::ImuError::~ImuError ( )

inlinevirtual

Trivial destructor.

okvis::ceres::ImuError::ImuError	(	const okvis::ImuMeasurementDeque &	imuMeasurements,
		const okvis::ImuParameters &	imuParameters,
		const okvis::Time &	t_0,
		const okvis::Time &	t_1
	)

Construct with measurements and parameters. @param[in] imuMeasurements All the IMU measurements. @param[in] imuParameters The parameters to be used. @param[in] t_0 Start time. @param[in] t_1 End time.

Member Function Documentation

bool okvis::ceres::ImuError::Evaluate	(	double const const	parameters,
		double *	residuals,
		double **	jacobians
	)		const

virtual

This evaluates the error term and additionally computes the Jacobians.

Parameters

parameters	Pointer to the parameters (see ceres)
residuals	Pointer to the residual vector (see ceres)
jacobians	Pointer to the Jacobians (see ceres)

Returns: success of th evaluation.

bool okvis::ceres::ImuError::EvaluateWithMinimalJacobians	(	double const const	parameters,
		double *	residuals,
		double **	jacobians,
		double **	jacobiansMinimal
	)		const

virtual

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

Parameters

parameters	Pointer to the parameters (see ceres)
residuals	Pointer to the residual vector (see ceres)
jacobians	Pointer to the Jacobians (see ceres)
jacobiansMinimal	Pointer to the minimal Jacobians (equivalent to jacobians).

Returns: Success of the evaluation.

Implements okvis::ceres::ErrorInterface.

const okvis::ImuMeasurementDeque& okvis::ceres::ImuError::imuMeasurements ( ) const

inline

Get the IMU measurements.

const okvis::ImuParameters& okvis::ceres::ImuError::imuParameters ( ) const

inline

Get the IMU Parameters.

Returns: the IMU parameters.

size_t okvis::ceres::ImuError::parameterBlockDim ( size_t parameterBlockId ) const

inlinevirtual

Dimension of an individual parameter block.

Parameters

[in] parameterBlockId ID of the parameter block of interest.

Returns: The dimension.

Implements okvis::ceres::ErrorInterface.

virtual size_t okvis::ceres::ImuError::parameterBlocks ( ) const

inlinevirtual

Number of parameter blocks.

Implements okvis::ceres::ErrorInterface.

int okvis::ceres::ImuError::propagation	(	const okvis::ImuMeasurementDeque &	imuMeasurements,
		const okvis::ImuParameters &	imuParams,
		okvis::kinematics::Transformation &	T_WS,
		okvis::SpeedAndBias &	speedAndBiases,
		const okvis::Time &	t_start,
		const okvis::Time &	t_end,
		covariance_t *	covariance = `0`,
		jacobian_t *	jacobian = `0`
	)

static

Propagates pose, speeds and biases with given IMU measurements.

Remarks: This can be used externally to perform propagation

Parameters

[in]	imuMeasurements	All the IMU measurements.
[in]	imuParams	The parameters to be used.
[in,out]	T_WS	Start pose.
[in,out]	speedAndBiases	Start speed and biases.
[in]	t_start	Start time.
[in]	t_end	End time.
[out]	covariance	Covariance for GIVEN start states.
[out]	jacobian	Jacobian w.r.t. start states.

Returns: Number of integration steps.

int okvis::ceres::ImuError::redoPreintegration	(	const okvis::kinematics::Transformation &	T_WS,
		const okvis::SpeedAndBias &	speedAndBiases
	)		const

Propagates pose, speeds and biases with given IMU measurements.

Warning: This is not actually const, since the re-propagation must somehow be stored...

Parameters

[in]	T_WS	Start pose.
[in]	speedAndBiases	Start speed and biases.

Returns: Number of integration steps.

size_t okvis::ceres::ImuError::residualDim ( ) const

inlinevirtual

Residual dimension.

Implements okvis::ceres::ErrorInterface.

void okvis::ceres::ImuError::setImuMeasurements ( const okvis::ImuMeasurementDeque & imuMeasurements )

inline

(Re)set the measurements @param[in] imuMeasurements All the IMU measurements.

void okvis::ceres::ImuError::setImuParameters ( const okvis::ImuParameters & imuParameters )

inline

(Re)set the parameters. @param[in] imuParameters The parameters to be used.

void okvis::ceres::ImuError::setT0 ( const okvis::Time & t_0 )

inline

(Re)set the start time. @param[in] t_0 Start time.

void okvis::ceres::ImuError::setT1 ( const okvis::Time & t_1 )

inline

(Re)set the start time. @param[in] t_1 End time.

okvis::Time okvis::ceres::ImuError::t0 ( ) const

inline

Get the start time.

okvis::Time okvis::ceres::ImuError::t1 ( ) const

inline

Get the end time.

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

inlinevirtual

Return parameter block type as string.

Implements okvis::ceres::ErrorInterface.

Member Data Documentation

Eigen::Vector3d okvis::ceres::ImuError::acc_doubleintegral_ = Eigen::Vector3d::Zero()

mutableprotected

Intermediate result.

Eigen::Vector3d okvis::ceres::ImuError::acc_integral_ = Eigen::Vector3d::Zero()

mutableprotected

Intermediate result.

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ::ceres::SizedCostFunction<15, 7, 9, 7, 9> okvis::ceres::ImuError::base_t

The base in ceres we derive from.

Eigen::Matrix3d okvis::ceres::ImuError::C_doubleintegral_ = Eigen::Matrix3d::Zero()

mutableprotected

Intermediate result.

Eigen::Matrix3d okvis::ceres::ImuError::C_integral_ = Eigen::Matrix3d::Zero()

mutableprotected

Intermediate result.

Eigen::Matrix3d okvis::ceres::ImuError::cross_ = Eigen::Matrix3d::Zero()

mutableprotected

Intermediate result.

Eigen::Matrix3d okvis::ceres::ImuError::dalpha_db_g_ = Eigen::Matrix3d::Zero()

mutableprotected

Intermediate result.

Eigen::Quaterniond okvis::ceres::ImuError::Delta_q_ = Eigen::Quaterniond(1,0,0,0)

mutableprotected

Intermediate result.

Eigen::Matrix3d okvis::ceres::ImuError::dp_db_g_ = Eigen::Matrix3d::Zero()

mutableprotected

Intermediate result.

Eigen::Matrix3d okvis::ceres::ImuError::dv_db_g_ = Eigen::Matrix3d::Zero()

mutableprotected

Intermediate result.

okvis::ImuMeasurementDeque okvis::ceres::ImuError::imuMeasurements_

protected

The IMU measurements used. Must be spanning t0_ - t1_.

okvis::ImuParameters okvis::ceres::ImuError::imuParameters_

protected

The IMU parameters.

information_t okvis::ceres::ImuError::information_

mutableprotected

The information matrix for this error term.

const int okvis::ceres::ImuError::kNumResiduals = 15

static

The number of residuals.

Eigen::Matrix<double,15,15> okvis::ceres::ImuError::P_delta_ = Eigen::Matrix<double,15,15>::Zero()

mutableprotected

The Jacobian of the increment (w/o biases).

std::mutex okvis::ceres::ImuError::preintegrationMutex_

mutableprotected

bool okvis::ceres::ImuError::redo_ = true

mutableprotected

Keeps track of whether or not this redoPreintegration() needs to be called.

int okvis::ceres::ImuError::redoCounter_ = 0

mutableprotected

Counts the number of preintegrations for statistics.

SpeedAndBiases okvis::ceres::ImuError::speedAndBiases_ref_ = SpeedAndBiases::Zero()

mutableprotected

Reference biases that are updated when called redoPreintegration.

information_t okvis::ceres::ImuError::squareRootInformation_

mutableprotected

The square root information matrix for this error term.

okvis::Time okvis::ceres::ImuError::t0_

protected

The start time (i.e. time of the first set of states).

okvis::Time okvis::ceres::ImuError::t1_

protected

The end time (i.e. time of the sedond set of states).

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

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

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation