Program Listing for File local_parameterization.hpp

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#ifndef FUSE_CORE__LOCAL_PARAMETERIZATION_HPP_
#define FUSE_CORE__LOCAL_PARAMETERIZATION_HPP_

#include <boost/serialization/access.hpp>
#include <fuse_core/ceres_macros.hpp>
#include <fuse_core/fuse_macros.hpp>
#include <fuse_core/serialization.hpp>

#if !CERES_SUPPORTS_MANIFOLDS
// Local parameterizations is removed in favour of Manifold in
// version 2.2.0, see
// https://github.com/ceres-solver/ceres-solver/commit/0141ca090c315db2f3c38e1731f0fe9754a4e4cc
#include <ceres/local_parameterization.h>
#else
#include <Eigen/Core>
#endif

namespace fuse_core
{

class LocalParameterization
// extend ceres LocalParameterization if our version of Ceres does not support Manifolds
#if !CERES_SUPPORTS_MANIFOLDS
  : public ceres::LocalParameterization
#endif
{
public:
  FUSE_SMART_PTR_ALIASES_ONLY(LocalParameterization)


  virtual ~LocalParameterization() = default;

  virtual int GlobalSize() const = 0;

  virtual int LocalSize() const = 0;

  virtual bool Plus(
    const double * x,
    const double * delta,
    double * x_plus_delta) const = 0;

  virtual bool ComputeJacobian(const double * x, double * jacobian) const = 0;

  virtual bool Minus(
    const double * x,
    const double * y,
    double * y_minus_x) const = 0;

  virtual bool ComputeMinusJacobian(
    const double * x,
    double * jacobian) const = 0;

#if CERES_SUPPORTS_MANIFOLDS
  // If the fuse::LocalParameterization class does not inherit from the
  // ceres::LocalParameterization class then we need to provide the default implementation of the
  // MultiplyByJacobian() method

  virtual bool MultiplyByJacobian(
    const double * x,
    const int num_rows,
    const double * global_matrix,
    double * local_matrix) const
  {
    using Matrix = Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>;
    using MatrixRef = Eigen::Map<Matrix>;
    using ConstMatrixRef = Eigen::Map<const Matrix>;

    if (LocalSize() == 0) {
      return true;
    }

    Matrix jacobian(GlobalSize(), LocalSize());
    if (!ComputeJacobian(x, jacobian.data())) {
      return false;
    }

    MatrixRef(local_matrix, num_rows, LocalSize()) =
      ConstMatrixRef(global_matrix, num_rows, GlobalSize()) * jacobian;
    return true;
  }
#endif

private:
  // Allow Boost Serialization access to private methods
  friend class boost::serialization::access;

  template<class Archive>
  void serialize(Archive & /* archive */, const unsigned int /* version */) {}
};

}  // namespace fuse_core

#endif  // FUSE_CORE__LOCAL_PARAMETERIZATION_HPP_