#include <core/state_block/state_block.h>

Inheritance diagram for wolf::StateBlock:

Public Member Functions
	StateBlock (const std::string &_type, const SizeEigen _size, bool _fixed=false, LocalParametrizationBasePtr _local_param_ptr=nullptr, bool _transformable=true)
	Constructor from size. More...

	StateBlock (const std::string &_type, const Eigen::VectorXd &_state, bool _fixed=false, LocalParametrizationBasePtr _local_param_ptr=nullptr, bool _transformable=true)
	Constructor from vector. More...

	StateBlock (const StateBlock &o)=delete

	StateBlock (StateBlock &&o)=delete

StateBlock &	operator= (const StateBlock &o)=delete

virtual	~StateBlock ()
	Destructor. More...

std::string	getType () const
	Returns the type of the state block. More...

Eigen::VectorXd	getState () const
	Returns the state vector. More...

double *	getStateData ()
	Returns the state vector data array. More...

void	setState (const Eigen::VectorXd &_state, const bool _notify=true)
	Sets the state vector. More...

SizeEigen	getSize () const
	Returns the state size. More...

SizeEigen	getLocalSize () const
	Returns the size of the local parametrization. More...

bool	isFixed () const
	Returns if the state is fixed (not estimated) More...

void	fix ()
	Sets the state as fixed. More...

void	unfix ()
	Sets the state as estimated. More...

void	setFixed (bool _fixed)
	Sets the state status. More...

bool	hasLocalParametrization () const
	Returns if the state has a local parametrization. More...

LocalParametrizationBasePtr	getLocalParametrization () const
	Returns the state local parametrization ptr. More...

void	setLocalParametrization (LocalParametrizationBasePtr _local_param)
	Sets a local parametrization. More...

void	removeLocalParametrization ()
	Removes the state_block local parametrization. More...

bool	stateUpdated () const
	Return if state has been updated. More...

bool	fixUpdated () const
	Return if fix/unfix has been updated. More...

bool	localParamUpdated () const
	Return if local parameterization has been updated. More...

void	resetStateUpdated ()
	Set state_updated_ to false. More...

void	resetFixUpdated ()
	Set fix_updated_ to false. More...

void	resetLocalParamUpdated ()
	Set localk_param_updated_ to false. More...

virtual void	setIdentity (bool _notify=true)

void	setZero (bool _notify=true)

virtual Eigen::VectorXd	identity () const

Eigen::VectorXd	zero () const

void	perturb (double amplitude=0.1)
	perturb all states states with random noise following an uniform distribution in [ -amplitude, amplitude ] More...

bool	isTransformable () const

void	setTransformable (bool _trf=true)

void	setNonTransformable ()

virtual void	transform (const VectorComposite &_transformation)=0

void	plus (const Eigen::VectorXd &_dv)

bool	isValid (double tolerance=Constants::EPS)

Protected Attributes
std::string	type_
	Type of the derived class. More...

std::atomic_bool	fixed_
	Key to indicate whether the state is fixed or not. More...

std::atomic< SizeEigen >	state_size_
	State vector size. More...

Eigen::VectorXd	state_
	State vector storing the state values. More...

std::mutex	mut_state_
	State vector mutex. More...

LocalParametrizationBasePtr	local_param_ptr_
	Local parametrization useful for optimizing in the tangent space to the manifold. More...

std::atomic_bool	state_updated_
	Flag to indicate whether the state has been updated or not. More...

std::atomic_bool	fix_updated_
	Flag to indicate whether the status has been updated or not. More...

std::atomic_bool	local_param_updated_
	Flag to indicate whether the local_parameterization has been updated or not. More...

bool	transformable_
	Flag to indicate if the state block can be transformed to another reference frame. More...

Detailed Description

class StateBlock

This class implements a state block for general nonlinear optimization. It offers the following functionality:

A state vector storing the state values.
A key to indicate whether the state is fixed or not.
- Fixed state blocks are not estimated and treated by the estimator as fixed parameters.
- Non-fixed state blocks are estimated.
A local parametrization useful for optimizing in the tangent space to the manifold.

Constructor & Destructor Documentation

◆ StateBlock() [1/4]

wolf::StateBlock::StateBlock	(	const std::string &	_type,
		const SizeEigen	_size,
		bool	_fixed = `false`,
		LocalParametrizationBasePtr	_local_param_ptr = `nullptr`,
		bool	_transformable = `true`
	)

inline

Constructor from size.

Parameters

_size	is state size
_fixed	Indicates this state is not estimated and thus acts as a fixed parameter
_local_param_ptr	pointer to the local parametrization for the block

◆ StateBlock() [2/4]

wolf::StateBlock::StateBlock	(	const std::string &	_type,
		const Eigen::VectorXd &	_state,
		bool	_fixed = `false`,
		LocalParametrizationBasePtr	_local_param_ptr = `nullptr`,
		bool	_transformable = `true`
	)

inline

Constructor from vector.

Parameters

_state	is state vector
_fixed	Indicates this state is not estimated and thus acts as a fixed parameter
_local_param_ptr	pointer to the local parametrization for the block Explicitly not copyable/movable

◆ StateBlock() [3/4]

wolf::StateBlock::StateBlock ( const StateBlock & o )

delete

◆ StateBlock() [4/4]

wolf::StateBlock::StateBlock ( StateBlock && o )

delete

◆ ~StateBlock()

wolf::StateBlock::~StateBlock ( )

inlinevirtual

Destructor.

Member Function Documentation

◆ fix()

void wolf::StateBlock::fix ( )

inline

Sets the state as fixed.

◆ fixUpdated()

bool wolf::StateBlock::fixUpdated ( ) const

inline

Return if fix/unfix has been updated.

◆ getLocalParametrization()

LocalParametrizationBasePtr wolf::StateBlock::getLocalParametrization ( ) const

inline

Returns the state local parametrization ptr.

◆ getLocalSize()

SizeEigen wolf::StateBlock::getLocalSize ( ) const

inline

Returns the size of the local parametrization.

◆ getSize()

SizeEigen wolf::StateBlock::getSize ( ) const

inline

Returns the state size.

◆ getState()

Eigen::VectorXd wolf::StateBlock::getState ( ) const

inline

Returns the state vector.

◆ getStateData()

double * wolf::StateBlock::getStateData ( )

inline

Returns the state vector data array.

◆ getType()

std::string wolf::StateBlock::getType ( ) const

inline

Returns the type of the state block.

◆ hasLocalParametrization()

bool wolf::StateBlock::hasLocalParametrization ( ) const

inline

Returns if the state has a local parametrization.

◆ identity()

Eigen::VectorXd wolf::StateBlock::identity ( ) const

inlinevirtual

Reimplemented in wolf::StateHomogeneous3d, and wolf::StateQuaternion.

◆ isFixed()

bool wolf::StateBlock::isFixed ( ) const

inline

Returns if the state is fixed (not estimated)

◆ isTransformable()

bool wolf::StateBlock::isTransformable ( ) const

inline

◆ isValid()

bool wolf::StateBlock::isValid ( double tolerance = Constants::EPS )

inline

◆ localParamUpdated()

bool wolf::StateBlock::localParamUpdated ( ) const

inline

Return if local parameterization has been updated.

◆ operator=()

StateBlock & wolf::StateBlock::operator= ( const StateBlock & o )

delete

◆ perturb()

void wolf::StateBlock::perturb ( double amplitude = 0.1 )

perturb all states states with random noise following an uniform distribution in [ -amplitude, amplitude ]

◆ plus()

void wolf::StateBlock::plus ( const Eigen::VectorXd & _dv )

◆ removeLocalParametrization()

void wolf::StateBlock::removeLocalParametrization ( )

inline

Removes the state_block local parametrization.

◆ resetFixUpdated()

void wolf::StateBlock::resetFixUpdated ( )

inline

Set fix_updated_ to false.

◆ resetLocalParamUpdated()

void wolf::StateBlock::resetLocalParamUpdated ( )

inline

Set localk_param_updated_ to false.

◆ resetStateUpdated()

void wolf::StateBlock::resetStateUpdated ( )

inline

Set state_updated_ to false.

◆ setFixed()

void wolf::StateBlock::setFixed ( bool _fixed )

Sets the state status.

◆ setIdentity()

void wolf::StateBlock::setIdentity ( bool _notify = true )

inlinevirtual

Reimplemented in wolf::StateHomogeneous3d, and wolf::StateQuaternion.

◆ setLocalParametrization()

void wolf::StateBlock::setLocalParametrization ( LocalParametrizationBasePtr _local_param )

inline

Sets a local parametrization.

◆ setNonTransformable()

void wolf::StateBlock::setNonTransformable ( )

inline

◆ setState()

void wolf::StateBlock::setState	(	const Eigen::VectorXd &	_state,
		const bool	_notify = `true`
	)

Sets the state vector.

◆ setTransformable()

void wolf::StateBlock::setTransformable ( bool _trf = true )

inline

◆ setZero()

void wolf::StateBlock::setZero ( bool _notify = true )

inline

◆ stateUpdated()

bool wolf::StateBlock::stateUpdated ( ) const

inline

Return if state has been updated.

◆ transform()

virtual void wolf::StateBlock::transform ( const VectorComposite & _transformation )

pure virtual

Implemented in wolf::StateAngle, wolf::StateParams< size >, wolf::StatePoint2d, wolf::StateVector2d, wolf::StatePoint3d, wolf::StateVector3d, wolf::StateHomogeneous3d, and wolf::StateQuaternion.

◆ unfix()

void wolf::StateBlock::unfix ( )

inline

Sets the state as estimated.

◆ zero()

Eigen::VectorXd wolf::StateBlock::zero ( ) const

inline

Member Data Documentation

◆ fix_updated_

std::atomic_bool wolf::StateBlock::fix_updated_

protected

Flag to indicate whether the status has been updated or not.

◆ fixed_

std::atomic_bool wolf::StateBlock::fixed_

protected

Key to indicate whether the state is fixed or not.

◆ local_param_ptr_

LocalParametrizationBasePtr wolf::StateBlock::local_param_ptr_

protected

Local parametrization useful for optimizing in the tangent space to the manifold.

◆ local_param_updated_

std::atomic_bool wolf::StateBlock::local_param_updated_

protected

Flag to indicate whether the local_parameterization has been updated or not.

◆ mut_state_

std::mutex wolf::StateBlock::mut_state_

mutableprotected

State vector mutex.

◆ state_

Eigen::VectorXd wolf::StateBlock::state_

protected

State vector storing the state values.

◆ state_size_

std::atomic<SizeEigen> wolf::StateBlock::state_size_

protected

State vector size.

◆ state_updated_

std::atomic_bool wolf::StateBlock::state_updated_

protected

Flag to indicate whether the state has been updated or not.

◆ transformable_

bool wolf::StateBlock::transformable_

protected

Flag to indicate if the state block can be transformed to another reference frame.

◆ type_

std::string wolf::StateBlock::type_

protected

Type of the derived class.

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

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ StateBlock() [1/4]

◆ StateBlock() [2/4]

◆ StateBlock() [3/4]

◆ StateBlock() [4/4]

◆ ~StateBlock()

Member Function Documentation

◆ fix()

◆ fixUpdated()

◆ getLocalParametrization()

◆ getLocalSize()

◆ getSize()

◆ getState()

◆ getStateData()

◆ getType()

◆ hasLocalParametrization()

◆ identity()

◆ isFixed()

◆ isTransformable()

◆ isValid()

◆ localParamUpdated()

◆ operator=()

◆ perturb()

◆ plus()

◆ removeLocalParametrization()

◆ resetFixUpdated()

◆ resetLocalParamUpdated()

◆ resetStateUpdated()

◆ setFixed()

◆ setIdentity()

◆ setLocalParametrization()

◆ setNonTransformable()

◆ setState()

◆ setTransformable()

◆ setZero()

◆ stateUpdated()

◆ transform()

◆ unfix()

◆ zero()

Member Data Documentation

◆ fix_updated_

◆ fixed_

◆ local_param_ptr_

◆ local_param_updated_

◆ mut_state_

◆ state_

◆ state_size_

◆ state_updated_

◆ transformable_

◆ type_