OKVIS ROS
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Pages
Public Types | Public Member Functions | Private Attributes | List of all members
okvis::ceres::SpeedAndBiasParameterBlock Class Reference

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

#include <SpeedAndBiasParameterBlock.hpp>

Inheritance diagram for okvis::ceres::SpeedAndBiasParameterBlock:
okvis::ceres::ParameterBlockSized< 9, 9, SpeedAndBias > okvis::ceres::ParameterBlock

Public Types

typedef ParameterBlockSized
< 9, 9, SpeedAndBias
base_t
 The base class type. More...
 
typedef SpeedAndBias estimate_t
 The estimate type (9D vector). More...
 
- Public Types inherited from okvis::ceres::ParameterBlockSized< 9, 9, SpeedAndBias >
typedef SpeedAndBias parameter_t
 Make the parameter type accessible. More...
 

Public Member Functions

 SpeedAndBiasParameterBlock ()
 Default constructor (assumes not fixed). More...
 
 SpeedAndBiasParameterBlock (const SpeedAndBias &speedAndBias, uint64_t id, const okvis::Time &timestamp)
 Constructor with estimate and time. More...
 
virtual ~SpeedAndBiasParameterBlock ()
 Trivial destructor. More...
 
virtual void setEstimate (const SpeedAndBias &speedAndBias)
 Set estimate of this parameter block. More...
 
void setTimestamp (const okvis::Time &timestamp)
 Set the time. More...
 
virtual SpeedAndBias estimate () const
 Get estimate. More...
 
okvis::Time timestamp () const
 Get the time. 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 *, 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 *, 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...
 
- Public Member Functions inherited from okvis::ceres::ParameterBlockSized< 9, 9, SpeedAndBias >
 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

okvis::Time timestamp_
 Time of this state. More...
 

Additional Inherited Members

- Static Public Attributes inherited from okvis::ceres::ParameterBlockSized< 9, 9, SpeedAndBias >
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< 9, 9, SpeedAndBias >
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

The base class type.

The estimate type (9D vector).

Constructor & Destructor Documentation

okvis::ceres::SpeedAndBiasParameterBlock::SpeedAndBiasParameterBlock ( )

Default constructor (assumes not fixed).

okvis::ceres::SpeedAndBiasParameterBlock::SpeedAndBiasParameterBlock ( const SpeedAndBias speedAndBias,
uint64_t  id,
const okvis::Time timestamp 
)

Constructor with estimate and time.

Parameters
[in]speedAndBiasThe speed and bias estimate.
[in]idThe (unique) ID of this block.
[in]timestampThe timestamp of this state.
okvis::ceres::SpeedAndBiasParameterBlock::~SpeedAndBiasParameterBlock ( )
virtual

Trivial destructor.

Member Function Documentation

SpeedAndBias okvis::ceres::SpeedAndBiasParameterBlock::estimate ( ) const
virtual

Get estimate.

Returns
The estimate.

Implements okvis::ceres::ParameterBlockSized< 9, 9, SpeedAndBias >.

virtual void okvis::ceres::SpeedAndBiasParameterBlock::liftJacobian ( const double *  ,
double *  jacobian 
) const
inlinevirtual

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

Parameters
[out]jacobianthe Jacobian (dimension minDim x dim).
Returns
True on success.

Implements okvis::ceres::ParameterBlock.

virtual void okvis::ceres::SpeedAndBiasParameterBlock::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]x0Variable.
[in]x0_plus_DeltaPerturbed variable.
[out]Delta_ChiMinimal difference.
Returns
True on success.

Implements okvis::ceres::ParameterBlock.

virtual void okvis::ceres::SpeedAndBiasParameterBlock::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]x0Variable.
[in]Delta_ChiPerturbation.
[out]x0_plus_DeltaPerturbed x.

Implements okvis::ceres::ParameterBlock.

virtual void okvis::ceres::SpeedAndBiasParameterBlock::plusJacobian ( const double *  ,
double *  jacobian 
) const
inlinevirtual

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

Parameters
[out]jacobianThe Jacobian.

Implements okvis::ceres::ParameterBlock.

void okvis::ceres::SpeedAndBiasParameterBlock::setEstimate ( const SpeedAndBias speedAndBias)
virtual

Set estimate of this parameter block.

Parameters
[in]speedAndBiasThe estimate to set this to.

Implements okvis::ceres::ParameterBlockSized< 9, 9, SpeedAndBias >.

void okvis::ceres::SpeedAndBiasParameterBlock::setTimestamp ( const okvis::Time timestamp)
inline

Set the time.

Parameters
[in]timestampThe timestamp of this state.
okvis::Time okvis::ceres::SpeedAndBiasParameterBlock::timestamp ( ) const
inline

Get the time.

Returns
The timestamp of this state.
virtual std::string okvis::ceres::SpeedAndBiasParameterBlock::typeInfo ( ) const
inlinevirtual

Return parameter block type as string.

Implements okvis::ceres::ParameterBlock.

Member Data Documentation

okvis::Time okvis::ceres::SpeedAndBiasParameterBlock::timestamp_
private

Time of this state.


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