Provides some additional interfaces to ceres' LocalParamization than are needed in the generic marginalisation okvis::ceres::MarginalizationError. More...

Inheritance diagram for okvis::ceres::LocalParamizationAdditionalInterfaces:

Public Member Functions
virtual	~LocalParamizationAdditionalInterfaces ()
	Trivial destructor. More...

virtual bool	Minus (const double x, const double x_plus_delta, double *delta) const =0
	Computes the minimal difference between a variable x and a perturbed variable x_plus_delta. More...

virtual bool	ComputeLiftJacobian (const double x, double jacobian) const =0
	Computes the Jacobian from minimal space to naively overparameterised space as used by ceres. More...

virtual bool	verify (const double *x_raw, double purturbation_magnitude=1.0e-6) const
	Verifies the correctness of an inplementation by means of numeric Jacobians. More...

Detailed Description

Provides some additional interfaces to ceres' LocalParamization than are needed in the generic marginalisation okvis::ceres::MarginalizationError.

Constructor & Destructor Documentation

virtual okvis::ceres::LocalParamizationAdditionalInterfaces::~LocalParamizationAdditionalInterfaces ( )

inlinevirtual

Trivial destructor.

virtual bool okvis::ceres::LocalParamizationAdditionalInterfaces::ComputeLiftJacobian	(	const double *	x,
		double *	jacobian
	)		const

pure virtual

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

Parameters

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

virtual bool okvis::ceres::LocalParamizationAdditionalInterfaces::Minus	(	const double *	x,
		const double *	x_plus_delta,
		double *	delta
	)		const

pure virtual

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

Parameters

bool okvis::ceres::LocalParamizationAdditionalInterfaces::verify	(	const double *	x_raw,
		double	purturbation_magnitude = `1.0e-6`
	)		const

virtual

Verifies the correctness of an inplementation by means of numeric Jacobians.

Parameters

[in]	x_raw	Linearisation point of the variable.
[in]	purturbation_magnitude	Magnitude of the delta used for numeric Jacobians.

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