msceqf::MSCEqFStateElement Class Reference

This class represent the base class for a general element of the MSCEqF state. This include the index of the variable (index in the residual, and in the covariance), and the degrees of freedom. More...

#include <state_elements.hpp>

Inheritance diagram for msceqf::MSCEqFStateElement:

Public Member Functions
const uint &	getIndex ()
	Get the starting index of the state element in the residual, and in the covariance.
const uint &	getDof ()
	Get the degrees of freedom of the state element (dimension of relative covariance and residual block)
void	updateIndex (const uint &new_idx)
	Update index.
virtual void	updateRight (const VectorX &delta)=0
	update function to update the value of the state element by right multiplication
virtual void	updateLeft (const VectorX &delta)=0
	update function to update the value of the state element by left multiplication
virtual std::unique_ptr< MSCEqFStateElement >	clone () const =0
	Clone.

Protected Member Functions
	MSCEqFStateElement ()=delete
	Rule of Five.
	MSCEqFStateElement (const MSCEqFStateElement &)=default
	MSCEqFStateElement (MSCEqFStateElement &&)=default
MSCEqFStateElement &	operator= (const MSCEqFStateElement &)=default
MSCEqFStateElement &	operator= (MSCEqFStateElement &&)=default
	MSCEqFStateElement (const uint &idx, const uint &dof)
	Construct a MSCEqFStateElement object.

Protected Attributes
uint	idx_
	Starting index of the element in the residual, and in the covariance.
uint	dof_
	Degrees of freedom of the element (dimension of relative covariance and residual block)

Detailed Description

This class represent the base class for a general element of the MSCEqF state. This include the index of the variable (index in the residual, and in the covariance), and the degrees of freedom.

Note

Type-based index system inspired by: Geneva, Patrick, et al. "Openvins: A research platform for visual-inertial estimation." 2020 IEEE International Conference on Robotics and Automation (ICRA). IEEE,

1. https://ieeexplore.ieee.org/document/9196524

Constructor & Destructor Documentation

MSCEqFStateElement()

msceqf::MSCEqFStateElement::MSCEqFStateElement ( const uint & idx, const uint & dof )

inlineprotected

Construct a MSCEqFStateElement object.

Parameters

idx	Starting index of the element in the residual, and in the covariance
dof	Degrees of freedom of the element (dimension of relative covariance and residual block)

Member Function Documentation

clone()

virtual std::unique_ptr< MSCEqFStateElement > msceqf::MSCEqFStateElement::clone ( ) const

pure virtual

Clone.

Returns

Cloned element

Implemented in msceqf::MSCEqFInState, msceqf::MSCEqFSDBState, msceqf::MSCEqFSE3State, and msceqf::MSCEqFSOT3State.

getDof()

const uint & msceqf::MSCEqFStateElement::getDof ( )

inlinenodiscard

Get the degrees of freedom of the state element (dimension of relative covariance and residual block)

Returns

Degrees of freedom

getIndex()

const uint & msceqf::MSCEqFStateElement::getIndex ( )

inlinenodiscard

Get the starting index of the state element in the residual, and in the covariance.

Returns

Starting index

updateIndex()

void msceqf::MSCEqFStateElement::updateIndex ( const uint & new_idx )

inline

Update index.

Parameters

new_idx

New index

updateLeft()

virtual void msceqf::MSCEqFStateElement::updateLeft ( const VectorX & delta )

pure virtual

update function to update the value of the state element by left multiplication

Parameters

delta

Delta value to update with

Implemented in msceqf::MSCEqFInState, msceqf::MSCEqFSDBState, msceqf::MSCEqFSE3State, and msceqf::MSCEqFSOT3State.

updateRight()

virtual void msceqf::MSCEqFStateElement::updateRight ( const VectorX & delta )

pure virtual

update function to update the value of the state element by right multiplication

Parameters

delta

Delta value to update with

Implemented in msceqf::MSCEqFInState, msceqf::MSCEqFSDBState, msceqf::MSCEqFSE3State, and msceqf::MSCEqFSOT3State.

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

• include/msceqf/state/state_elements.hpp