JPL quaternion CERES state parameterization. More...

Inheritance diagram for ov_init::State_JPLQuatLocal:

Public Member Functions
bool	ComputeJacobian (const double x, double jacobian) const override
	Computes the jacobian in respect to the local parameterization. More...

int	GlobalSize () const override

int	LocalSize () const override

bool	Plus (const double x, const double delta, double *x_plus_delta) const override
	State update function for a JPL quaternion representation. More...

Detailed Description

JPL quaternion CERES state parameterization.

Definition at line 32 of file State_JPLQuatLocal.h.

Member Function Documentation

bool State_JPLQuatLocal::ComputeJacobian	(	const double *	x,
		double *	jacobian
	)		const

override

Computes the jacobian in respect to the local parameterization.

This essentially "tricks" ceres. Instead of doing what ceres wants: dr/dlocal= dr/dglobal * dglobal/dlocal

We instead directly do: dr/dlocal= [ dr/dlocal, 0] * [I; 0]= dr/dlocal. Therefore we here define dglobal/dlocal= [I; 0]

Definition at line 51 of file State_JPLQuatLocal.cpp.

int ov_init::State_JPLQuatLocal::GlobalSize ( ) const

inlineoverride

Definition at line 59 of file State_JPLQuatLocal.h.

int ov_init::State_JPLQuatLocal::LocalSize ( ) const

inlineoverride

Definition at line 61 of file State_JPLQuatLocal.h.

bool State_JPLQuatLocal::Plus	(	const double *	x,
		const double *	delta,
		double *	x_plus_delta
	)		const

override

State update function for a JPL quaternion representation.

Implements update operation by left-multiplying the current quaternion with a quaternion built from a small axis-angle perturbation.

$\bar{q}=norm\Big(\begin{bmatrix} 0.5*\mathbf{\theta_{dx}} \\ 1 \end{bmatrix}\Big) \hat{\bar{q}}$

Definition at line 28 of file State_JPLQuatLocal.cpp.

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