Create a local parameterization with the Jacobians computed via automatic differentiation. More...

#include <autodiff_local_parameterization.h>

Inheritance diagram for fuse_core::AutoDiffLocalParameterization< PlusFunctor, MinusFunctor, kGlobalSize, kLocalSize >:

Public Member Functions
	AutoDiffLocalParameterization ()
	Constructs new PlusFunctor and MinusFunctor instances. More...

	AutoDiffLocalParameterization (PlusFunctor plus_functor, MinusFunctor minus_functor)
	Takes ownership of the provided PlusFunctor and MinusFunctor instances. More...

bool	ComputeJacobian (const double x, double jacobian) const override
	The Jacobian of Plus(x, delta) w.r.t delta at delta = 0, computed using automatic differentiation. More...

bool	ComputeMinusJacobian (const double x, double jacobian) const override
	The Jacobian of Minus(x1, x2) w.r.t x2 evaluated at x1 = x2 = x, computed using automatic differentiation. More...

	FUSE_SMART_PTR_DEFINITIONS (AutoDiffLocalParameterization< PlusFunctor, MinusFunctor, kGlobalSize, kLocalSize >)

int	GlobalSize () const override
	The size of the variable parameterization in the nonlinear manifold. More...

int	LocalSize () const override
	The size of a delta vector in the linear tangent space to the nonlinear manifold. More...

bool	Minus (const double x1, const double x2, double *delta) const override
	Generalization of the subtraction operation, implemented by the provided MinusFunctor. More...

bool	Plus (const double x, const double delta, double *x_plus_delta) const override
	Generalization of the addition operation, implemented by the provided PlusFunctor. More...

Public Member Functions inherited from fuse_core::LocalParameterization
	FUSE_SMART_PTR_ALIASES_ONLY (LocalParameterization)

virtual	~LocalParameterization ()=default
	Destroy the Local Parameterization object. More...

Private Attributes
std::unique_ptr< MinusFunctor >	minus_functor_

std::unique_ptr< PlusFunctor >	plus_functor_

Detailed Description

template<typename PlusFunctor, typename MinusFunctor, int kGlobalSize, int kLocalSize>
class fuse_core::AutoDiffLocalParameterization< PlusFunctor, MinusFunctor, kGlobalSize, kLocalSize >

Create a local parameterization with the Jacobians computed via automatic differentiation.

To get an auto differentiated local parameterization, you must define two classes with a templated operator() (a.k.a. a functor).

The first functor should compute:

Plus(x, delta) -> x_plus_delta

And the second functor should compute the inverse operation:

Minus(x1, x2) -> delta

Minus() should be defined such that if Plus(x1, delta) -> x2, then Minus(x1, x2) -> delta

The autodiff framework substitutes appropriate "Jet" objects for the template parameter T in order to compute the derivative when necessary, but this is hidden, and you should write the function as if T were a scalar type (e.g. a double-precision floating point number).

Additionally the GlobalSize and LocalSize must be specified as template parameters.

GlobalSize is the size of the variables x1 and x2. If this is a quaternion, the GloblaSize would be 4.
LocalSize is the size of delta, and may be different from GlobalSize. For quaternions, there are only 3 degrees of freedom, so the LocalSize is 3.

For more information on local parameterizations, see fuse_core::LocalParameterization

Definition at line 77 of file autodiff_local_parameterization.h.

Constructor & Destructor Documentation

◆ AutoDiffLocalParameterization() [1/2]

template<typename PlusFunctor , typename MinusFunctor , int kGlobalSize, int kLocalSize>

fuse_core::AutoDiffLocalParameterization< PlusFunctor, MinusFunctor, kGlobalSize, kLocalSize >::AutoDiffLocalParameterization

Constructs new PlusFunctor and MinusFunctor instances.

Definition at line 155 of file autodiff_local_parameterization.h.

◆ AutoDiffLocalParameterization() [2/2]

template<typename PlusFunctor , typename MinusFunctor , int kGlobalSize, int kLocalSize>

fuse_core::AutoDiffLocalParameterization< PlusFunctor, MinusFunctor, kGlobalSize, kLocalSize >::AutoDiffLocalParameterization	(	PlusFunctor *	plus_functor,
		MinusFunctor *	minus_functor
	)

Takes ownership of the provided PlusFunctor and MinusFunctor instances.

Definition at line 162 of file autodiff_local_parameterization.h.

Member Function Documentation

◆ ComputeJacobian()

template<typename PlusFunctor , typename MinusFunctor , int kGlobalSize, int kLocalSize>

bool fuse_core::AutoDiffLocalParameterization< PlusFunctor, MinusFunctor, kGlobalSize, kLocalSize >::ComputeJacobian	(	const double *	x,
		double *	jacobian
	)		const

overridevirtual

The Jacobian of Plus(x, delta) w.r.t delta at delta = 0, computed using automatic differentiation.

Parameters

[in]	x	The value used to evaluate the Jacobian, of size GloblaSize()
[out]	jacobian	The Jacobian in row-major order, of size `GlobalSize()` x `LocalSize()`

Returns: True is successful, false otherwise

Implements fuse_core::LocalParameterization.

Definition at line 180 of file autodiff_local_parameterization.h.

◆ ComputeMinusJacobian()

template<typename PlusFunctor , typename MinusFunctor , int kGlobalSize, int kLocalSize>

bool fuse_core::AutoDiffLocalParameterization< PlusFunctor, MinusFunctor, kGlobalSize, kLocalSize >::ComputeMinusJacobian	(	const double *	x,
		double *	jacobian
	)		const

overridevirtual

The Jacobian of Minus(x1, x2) w.r.t x2 evaluated at x1 = x2 = x, computed using automatic differentiation.

Parameters

[in]	x	The value used to evaluate the Jacobian, of size `GlobalSize()`
[out]	jacobian	The Jacobian in row-major order, of size `LocalSize()` x `GlobalSize()`

Returns: True is successful, false otherwise

Implements fuse_core::LocalParameterization.

Definition at line 208 of file autodiff_local_parameterization.h.

◆ FUSE_SMART_PTR_DEFINITIONS()

template<typename PlusFunctor , typename MinusFunctor , int kGlobalSize, int kLocalSize>

fuse_core::AutoDiffLocalParameterization< PlusFunctor, MinusFunctor, kGlobalSize, kLocalSize >::FUSE_SMART_PTR_DEFINITIONS ( AutoDiffLocalParameterization< PlusFunctor, MinusFunctor, kGlobalSize, kLocalSize > )

◆ GlobalSize()

template<typename PlusFunctor , typename MinusFunctor , int kGlobalSize, int kLocalSize>

int fuse_core::AutoDiffLocalParameterization< PlusFunctor, MinusFunctor, kGlobalSize, kLocalSize >::GlobalSize ( ) const

inlineoverridevirtual

The size of the variable parameterization in the nonlinear manifold.

Implements fuse_core::LocalParameterization.

Definition at line 142 of file autodiff_local_parameterization.h.

◆ LocalSize()

template<typename PlusFunctor , typename MinusFunctor , int kGlobalSize, int kLocalSize>

int fuse_core::AutoDiffLocalParameterization< PlusFunctor, MinusFunctor, kGlobalSize, kLocalSize >::LocalSize ( ) const

inlineoverridevirtual

The size of a delta vector in the linear tangent space to the nonlinear manifold.

Implements fuse_core::LocalParameterization.

Definition at line 147 of file autodiff_local_parameterization.h.

◆ Minus()

template<typename PlusFunctor , typename MinusFunctor , int kGlobalSize, int kLocalSize>

bool fuse_core::AutoDiffLocalParameterization< PlusFunctor, MinusFunctor, kGlobalSize, kLocalSize >::Minus	(	const double *	x1,
		const double *	x2,
		double *	delta
	)		const

overridevirtual

Generalization of the subtraction operation, implemented by the provided MinusFunctor.

Parameters

[in]	x1	The value of the first variable, of size `GlobalSize()`
[in]	x2	The value of the second variable, of size `GlobalSize()`
[out]	delta	The difference between the second variable and the first, of size `LocalSize()`

Returns: True if successful, false otherwise

Implements fuse_core::LocalParameterization.

Definition at line 199 of file autodiff_local_parameterization.h.

◆ Plus()

template<typename PlusFunctor , typename MinusFunctor , int kGlobalSize, int kLocalSize>

bool fuse_core::AutoDiffLocalParameterization< PlusFunctor, MinusFunctor, kGlobalSize, kLocalSize >::Plus	(	const double *	x,
		const double *	delta,
		double *	x_plus_delta
	)		const

overridevirtual

Generalization of the addition operation, implemented by the provided PlusFunctor.

Parameters

[in]	x	The starting variable value, of size `GlobalSize()`
[in]	delta	The variable increment to apply, of size `LocalSize()`
[out]	x_plus_delta	The final variable value, of size `GlobalSize()`

Returns: True if successful, false otherwise

Implements fuse_core::LocalParameterization.

Definition at line 171 of file autodiff_local_parameterization.h.

Member Data Documentation

◆ minus_functor_

template<typename PlusFunctor , typename MinusFunctor , int kGlobalSize, int kLocalSize>

std::unique_ptr<MinusFunctor> fuse_core::AutoDiffLocalParameterization< PlusFunctor, MinusFunctor, kGlobalSize, kLocalSize >::minus_functor_

private

Definition at line 151 of file autodiff_local_parameterization.h.

◆ plus_functor_

template<typename PlusFunctor , typename MinusFunctor , int kGlobalSize, int kLocalSize>

std::unique_ptr<PlusFunctor> fuse_core::AutoDiffLocalParameterization< PlusFunctor, MinusFunctor, kGlobalSize, kLocalSize >::plus_functor_

private

Definition at line 150 of file autodiff_local_parameterization.h.

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

autodiff_local_parameterization.h

Public Member Functions

Private Attributes

Detailed Description

template<typename PlusFunctor, typename MinusFunctor, int kGlobalSize, int kLocalSize> class fuse_core::AutoDiffLocalParameterization< PlusFunctor, MinusFunctor, kGlobalSize, kLocalSize >

Constructor & Destructor Documentation

◆ AutoDiffLocalParameterization() [1/2]

◆ AutoDiffLocalParameterization() [2/2]

Member Function Documentation

◆ ComputeJacobian()

◆ ComputeMinusJacobian()

◆ FUSE_SMART_PTR_DEFINITIONS()

◆ GlobalSize()

◆ LocalSize()

◆ Minus()

◆ Plus()

Member Data Documentation

◆ minus_functor_

◆ plus_functor_

template<typename PlusFunctor, typename MinusFunctor, int kGlobalSize, int kLocalSize>
class fuse_core::AutoDiffLocalParameterization< PlusFunctor, MinusFunctor, kGlobalSize, kLocalSize >