msceqf::ProjectionHelperS2 Class Reference

ProjectionHelperS2 class. This class provides an implementation of the projection on the unit sphere as well as its differential. More...

#include <updater_helper.hpp>

Inheritance diagram for msceqf::ProjectionHelperS2:

Collaboration diagram for msceqf::ProjectionHelperS2:

Public Member Functions
	ProjectionHelperS2 (const FeatureRepresentation &feature_representation)
Vector3	pi (const Vector3 &f) override
	Projection function. This function projects a 3D point on the unit sphere.
MatrixX	dpi (const Vector3 &f) override
	Projection differential function. This function computes the differential of the projection function.
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) override
	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.
Public Member Functions inherited from msceqf::ProjectionHelper
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.

Additional Inherited Members
Protected Member Functions inherited from msceqf::ProjectionHelper
	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 inherited from msceqf::ProjectionHelper
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

ProjectionHelperS2 class. This class provides an implementation of the projection on the unit sphere as well as its differential.

Member Function Documentation

dpi()

MatrixX msceqf::ProjectionHelperS2::dpi ( const Vector3 & f )

nodiscardoverridevirtual

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

Parameters

f

Returns

Differential of the S2 projection function

Implements msceqf::ProjectionHelper.

pi()

Vector3 msceqf::ProjectionHelperS2::pi ( const Vector3 & f )

nodiscardoverridevirtual

Projection function. This function projects a 3D point on the unit sphere.

Parameters

f

Returns

R3 vector representing a 3D point on the unit sphere

Implements msceqf::ProjectionHelper.

residualJacobianBlock()

void msceqf::ProjectionHelperS2::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 )

overridevirtual

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

Implements msceqf::ProjectionHelper.

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

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