wolf::LocalParametrizationBase Class Reference

#include <core/state_block/local_parametrization_base.h>

Inheritance diagram for wolf::LocalParametrizationBase:

Public Member Functions
	LocalParametrizationBase (unsigned int _global_size, unsigned int _local_size)
virtual	~LocalParametrizationBase ()
bool	plus (const Eigen::VectorXd &_x, const Eigen::VectorXd &_delta, Eigen::VectorXd &_x_plus_delta) const
	Plus operation: apply a local increment to a state. More...
virtual bool	plus (Eigen::Map< const Eigen::VectorXd > &_x, Eigen::Map< const Eigen::VectorXd > &_delta, Eigen::Map< Eigen::VectorXd > &_x_plus_delta) const =0
virtual bool	computePlusJacobian (Eigen::Map< const Eigen::VectorXd > &_x, Eigen::Map< Eigen::MatrixRowXd > &_jacobian) const =0
	Compute the Jacobian of the plus operation wrt the local increment. More...
virtual bool	minus (Eigen::Map< const Eigen::VectorXd > &_x1, Eigen::Map< const Eigen::VectorXd > &_x2, Eigen::Map< Eigen::VectorXd > &_x2_minus_x1) const =0
	Minus operation: compute the local increment between two states: NOTE: This function computes x2 (minus) x1 ! More...
virtual bool	computeMinusJacobian (Eigen::Map< const Eigen::VectorXd > &_x, Eigen::Map< Eigen::MatrixRowXd > &_jacobian) const =0
virtual bool	isValid (const Eigen::VectorXd &state, double tolerance) const =0
unsigned int	getLocalSize () const
unsigned int	getGlobalSize () const

Protected Attributes
unsigned int	global_size_
unsigned int	local_size_

Constructor & Destructor Documentation

LocalParametrizationBase()

wolf::LocalParametrizationBase::LocalParametrizationBase	(	unsigned int	_global_size,
		unsigned int	_local_size
	)

~LocalParametrizationBase()

wolf::LocalParametrizationBase::~LocalParametrizationBase ( )

virtual

Member Function Documentation

computeMinusJacobian()

virtual bool wolf::LocalParametrizationBase::computeMinusJacobian ( Eigen::Map< const Eigen::VectorXd > &  _x, Eigen::Map< Eigen::MatrixRowXd > &  _jacobian  ) const

pure virtual

Implemented in wolf::LocalParametrizationAngle, wolf::LocalParametrizationQuaternion< DeltaReference >, wolf::LocalParametrizationQuaternion< DeltaReference >, and wolf::LocalParametrizationQuaternion< DeltaReference >.

computePlusJacobian()

virtual bool wolf::LocalParametrizationBase::computePlusJacobian ( Eigen::Map< const Eigen::VectorXd > &  _x, Eigen::Map< Eigen::MatrixRowXd > &  _jacobian  ) const

pure virtual

Compute the Jacobian of the plus operation wrt the local increment.

Parameters

_x	the state
_jacobian	the Jacobian matrix

Returns

true if successful

Implemented in wolf::LocalParametrizationAngle, wolf::LocalParametrizationQuaternion< DeltaReference >, wolf::LocalParametrizationQuaternion< DeltaReference >, and wolf::LocalParametrizationQuaternion< DeltaReference >.

getGlobalSize()

unsigned int wolf::LocalParametrizationBase::getGlobalSize

(

)

const

getLocalSize()

unsigned int wolf::LocalParametrizationBase::getLocalSize

(

)

const

isValid()

virtual bool wolf::LocalParametrizationBase::isValid ( const Eigen::VectorXd &  state, double  tolerance  ) const

pure virtual

Implemented in wolf::LocalParametrizationQuaternion< DeltaReference >, and wolf::LocalParametrizationAngle.

minus()

virtual bool wolf::LocalParametrizationBase::minus ( Eigen::Map< const Eigen::VectorXd > &  _x1, Eigen::Map< const Eigen::VectorXd > &  _x2, Eigen::Map< Eigen::VectorXd > &  _x2_minus_x1  ) const

pure virtual

Minus operation: compute the local increment between two states: NOTE: This function computes x2 (minus) x1 !

Parameters

_x1	the first state
_x2	the second state
_x2_minus_x1	the resulting local increment

Returns

true if successful

Implemented in wolf::LocalParametrizationQuaternion< DeltaReference >, wolf::LocalParametrizationQuaternion< DeltaReference >, wolf::LocalParametrizationQuaternion< DeltaReference >, and wolf::LocalParametrizationAngle.

plus() [1/2]

bool wolf::LocalParametrizationBase::plus	(	const Eigen::VectorXd &	_x,
		const Eigen::VectorXd &	_delta,
		Eigen::VectorXd &	_x_plus_delta
	)		const

Plus operation: apply a local increment to a state.

Parameters

_x	the state
_delta	the local increment
_x_plus_delta	the resulting state after applying the increment

Returns

true if successful

plus() [2/2]

virtual bool wolf::LocalParametrizationBase::plus ( Eigen::Map< const Eigen::VectorXd > &  _x, Eigen::Map< const Eigen::VectorXd > &  _delta, Eigen::Map< Eigen::VectorXd > &  _x_plus_delta  ) const

pure virtual

Implemented in wolf::LocalParametrizationAngle, wolf::LocalParametrizationQuaternion< DeltaReference >, wolf::LocalParametrizationQuaternion< DeltaReference >, and wolf::LocalParametrizationQuaternion< DeltaReference >.

Member Data Documentation

global_size_

unsigned int wolf::LocalParametrizationBase::global_size_

protected

local_size_

unsigned int wolf::LocalParametrizationBase::local_size_

protected

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

• include/core/state_block/local_parametrization_base.h
• src/state_block/local_parametrization_base.cpp