okvis::ceres::ParameterBlockSized< Dim, MinDim, T > Class Template Reference

Base class providing the interface for parameter blocks. More...

#include <ParameterBlockSized.hpp>

Inheritance diagram for okvis::ceres::ParameterBlockSized< Dim, MinDim, T >:

Public Types
typedef T	parameter_t
	Make the parameter type accessible. More...

Public Member Functions
	ParameterBlockSized ()
	Default constructor – initialises elements in parametes_ to zero. More...
virtual	~ParameterBlockSized ()
	Trivial destructor. More...
Setters
virtual void	setEstimate (const parameter_t &estimate)=0
	Set estimate of this parameter block. More...
virtual void	setParameters (const double *parameters)
	Set exact parameters of this parameter block. More...
Getters
virtual parameter_t	estimate () const =0
	Get estimate. 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...
File read/write - implement in derived class, if needed
Reading from file – not implemented
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...
virtual void	plus (const double *x0, const double *Delta_Chi, double *x0_plus_Delta) const =0
	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 =0
	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 =0
	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 =0
	Computes the Jacobian from minimal space to naively overparameterised space as used by ceres. More...
virtual std::string	typeInfo () const =0
	Return parameter block type as string. 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...

Static Public Attributes
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW const int	Dimension = Dim
	Dimension of the parameter block. More...
static const int	MinimalDimension = MinDim
	Internal (minimal) dimension. More...

Protected Attributes
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

template<int Dim, int MinDim, class T>
class okvis::ceres::ParameterBlockSized< Dim, MinDim, T >

Base class providing the interface for parameter blocks.

Template Parameters

Dim	Dimension of parameter block
MinDim	Minimal dimension of parameter block
T	The type of the estimate

Member Typedef Documentation

template<int Dim, int MinDim, class T>

typedef T okvis::ceres::ParameterBlockSized< Dim, MinDim, T >::parameter_t

Make the parameter type accessible.

Constructor & Destructor Documentation

template<int Dim, int MinDim, class T>

okvis::ceres::ParameterBlockSized< Dim, MinDim, T >::ParameterBlockSized ( )

inline

Default constructor – initialises elements in parametes_ to zero.

template<int Dim, int MinDim, class T>

virtual okvis::ceres::ParameterBlockSized< Dim, MinDim, T >::~ParameterBlockSized ( )

inlinevirtual

Trivial destructor.

Member Function Documentation

template<int Dim, int MinDim, class T>

virtual size_t okvis::ceres::ParameterBlockSized< Dim, MinDim, T >::dimension ( ) const

inlinevirtual

Get the parameter dimension.

Returns

The parameter dimension.

Implements okvis::ceres::ParameterBlock.

template<int Dim, int MinDim, class T>

virtual parameter_t okvis::ceres::ParameterBlockSized< Dim, MinDim, T >::estimate ( ) const

pure virtual

Get estimate.

Returns

The estimate.

Implemented in okvis::ceres::HomogeneousPointParameterBlock, okvis::ceres::SpeedAndBiasParameterBlock, and okvis::ceres::PoseParameterBlock.

template<int Dim, int MinDim, class T>

virtual size_t okvis::ceres::ParameterBlockSized< Dim, MinDim, T >::minimalDimension ( ) const

inlinevirtual

Get the internal minimal parameter dimension.

Returns

The internal minimal parameter dimension.

Implements okvis::ceres::ParameterBlock.

template<int Dim, int MinDim, class T>

virtual double* okvis::ceres::ParameterBlockSized< Dim, MinDim, T >::parameters ( )

inlinevirtual

Get parameters – as a pointer.

Returns

Pointer to the parameters allocated in here.

Implements okvis::ceres::ParameterBlock.

template<int Dim, int MinDim, class T>

virtual const double* okvis::ceres::ParameterBlockSized< Dim, MinDim, T >::parameters ( ) const

inlinevirtual

Get parameters – as a pointer.

Returns

Pointer to the parameters allocated in here.

Implements okvis::ceres::ParameterBlock.

template<int Dim, int MinDim, class T>

virtual bool okvis::ceres::ParameterBlockSized< Dim, MinDim, T >::read ( std::istream &  )

inlinevirtual

template<int Dim, int MinDim, class T>

virtual void okvis::ceres::ParameterBlockSized< Dim, MinDim, T >::setEstimate ( const parameter_t &  estimate )

pure virtual

Set estimate of this parameter block.

Parameters

[in]

estimate

The estimate to set this to.

Implemented in okvis::ceres::HomogeneousPointParameterBlock, okvis::ceres::SpeedAndBiasParameterBlock, and okvis::ceres::PoseParameterBlock.

template<int Dim, int MinDim, class T>

virtual void okvis::ceres::ParameterBlockSized< Dim, MinDim, T >::setParameters ( const double *  parameters )

inlinevirtual

Set exact parameters of this parameter block.

Parameters

[in]

parameters

The parameters to set this to.

Implements okvis::ceres::ParameterBlock.

template<int Dim, int MinDim, class T>

virtual bool okvis::ceres::ParameterBlockSized< Dim, MinDim, T >::write ( std::ostream &  ) const

inlinevirtual

Writing to file – not implemented.

Member Data Documentation

template<int Dim, int MinDim, class T>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW const int okvis::ceres::ParameterBlockSized< Dim, MinDim, T >::Dimension = Dim

static

Dimension of the parameter block.

template<int Dim, int MinDim, class T>

const int okvis::ceres::ParameterBlockSized< Dim, MinDim, T >::MinimalDimension = MinDim

static

Internal (minimal) dimension.

template<int Dim, int MinDim, class T>

double okvis::ceres::ParameterBlockSized< Dim, MinDim, T >::parameters_[Dimension]

protected

Parameters.

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

• okvis/okvis_ceres/include/okvis/ceres/ParameterBlockSized.hpp