msceqf::ProjectionHelper Class Reference

ProjectionHelper interface. This class provides an interface to the implementation of the projection function as well as its differential. More...

#include <updater_helper.hpp>

Inheritance diagram for msceqf::ProjectionHelper:

Public Member Functions
virtual Vector3	pi (const Vector3 &f)=0
	Projection function. This function projects a 3D point.
virtual MatrixX	dpi (const Vector3 &f)=0
	Projection differential function. This function computes the differential of the projection function.
virtual void	residualJacobianBlock (const MSCEqFState &X, const SystemState &xi0, const FeatHelper &feat, MatrixXBlockRowRef C_block_row, VectorXBlockRowRef delta_block_row, MatrixXBlockRowRef Cf_block_row, const ColsMap &cols_map)=0
	Computes a block row of the C matrix and a block of the residual, corresponding to the given feature This method compute the Ct matrix, the Cf matrix and the residual for a given feature.
const size_t &	block_rows () const
	Get the number of rows of a C matrix block and a residual block.
const size_t &	dim_loss () const
	Get the dimension lost due to nullspace projection.

Protected Member Functions
	ProjectionHelper (const FeatureRepresentation &feature_representation)
	Rule of 5.
	ProjectionHelper (const ProjectionHelper &)=default
	ProjectionHelper (ProjectionHelper &&)=default
ProjectionHelper &	operator= (const ProjectionHelper &)=default
ProjectionHelper &	operator= (ProjectionHelper &&)=default

Protected Attributes
FeatureRepresentation	feature_representation_
	Feature representation.
size_t	block_rows_
	Number of rows of a C matrix block and a residual block.
size_t	dim_loss_
	Dimension lost due to nullspace projection.

Detailed Description

ProjectionHelper interface. This class provides an interface to the implementation of the projection function as well as its differential.

Member Function Documentation

block_rows()

const size_t & msceqf::ProjectionHelper::block_rows ( ) const

inlinenodiscard

Get the number of rows of a C matrix block and a residual block.

Returns

rows of a single block of the C matrix and the residual

dim_loss()

const size_t & msceqf::ProjectionHelper::dim_loss ( ) const

inlinenodiscard

Get the dimension lost due to nullspace projection.

Returns

dimension lost due to nullspace projection

dpi()

virtual MatrixX msceqf::ProjectionHelper::dpi ( const Vector3 & f )

nodiscardpure virtual

Projection differential function. This function computes the differential of the projection function.

Parameters

f

Returns

Differential of the projection function

Implemented in msceqf::ProjectionHelperS2, and msceqf::ProjectionHelperZ1.

pi()

virtual Vector3 msceqf::ProjectionHelper::pi ( const Vector3 & f )

nodiscardpure virtual

Projection function. This function projects a 3D point.

Parameters

f

Returns

R3 vector representing a 3D point

Implemented in msceqf::ProjectionHelperS2, and msceqf::ProjectionHelperZ1.

residualJacobianBlock()

virtual void msceqf::ProjectionHelper::residualJacobianBlock ( const MSCEqFState & X, const SystemState & xi0, const FeatHelper & feat, MatrixXBlockRowRef C_block_row, VectorXBlockRowRef delta_block_row, MatrixXBlockRowRef Cf_block_row, const ColsMap & cols_map )

pure virtual

Computes a block row of the C matrix and a block of the residual, corresponding to the given feature This method compute the Ct matrix, the Cf matrix and the residual for a given feature.

Parameters

X	MSCEqF state
feat	Feature helper
C_block_row	Block row of the C matrix
delta_block_row	Block of the residual delta
Cf_block_row	Block of the Cf matrix
cols_map	Map of indices for the C matrix and the residual delta

Implemented in msceqf::ProjectionHelperS2, and msceqf::ProjectionHelperZ1.

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

• include/msceqf/filter/updater/updater_helper.hpp