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Projection Class Reference

class to store the projected residuals and the corresponding jacobian as well as the covariance matrix in the system of residuals More...

#include <Projection.h>

Public Member Functions

 Projection (int dimP, int dimC)
 constructor
 
virtual ~Projection ()
 destructor
 
Eigen::Matrix< double, -1, -1, 0, 7, MAX_MATRIX_SIZE > & getH ()
 get projection matrix
 
const Eigen::Matrix< double, -1, -1, 0, 7, MAX_MATRIX_SIZE > getH () const
 get projection matrix
 
Eigen::Matrix< double, -1, 1, 0, 7, 1 > & getResiduals ()
 get residuals
 
const Eigen::Matrix< double, -1, 1, 0, 7, 1 > getResiduals () const
 get residuals
 
double getElementInResiduals (int row)
 ge element in residuals
 
Eigen::Matrix< double, -1, -1, 0, 7, 7 > & getV ()
 get residuals cov matrix
 
const Eigen::Matrix< double, -1, -1, 0, 7, 7 > & getV () const
 get residuals cov matrix
 
void resetProjection ()
 reset projection
 
unsigned int getOffset () const
 get offset (for mergedcosntraints)
 
void incrementOffset (unsigned int i)
 increment offset
 
unsigned int offset () const
 get offset
 
int getDim () const
 get size
 
int getDimCov () const
 get size
 

Private Attributes

Eigen::Matrix< double, -1, -1, 0, 7, MAX_MATRIX_SIZE > m_H
 jacobian of the constraint, converts x,p,E<->system of residuals
 
Eigen::Matrix< double, -1, -1, 0, 7, 7 > m_V
 covariance matrix of this constraint (r')
 
Eigen::Matrix< double, -1, 1, 0, 7, 1 > m_residual
 residuals of constraint
 
int m_dimCov
 dimension of the covariance
 
int m_dimProj
 dimension of H
 
unsigned int m_offset
 offset for constraint index.
 

Detailed Description

class to store the projected residuals and the corresponding jacobian as well as the covariance matrix in the system of residuals

Definition at line 18 of file Projection.h.

Constructor & Destructor Documentation

◆ Projection()

Projection ( int dimP,
int dimC )

constructor

Definition at line 15 of file Projection.cc.

15 :
16 m_H(dimC, dimP),
17 m_V(dimC, dimC),
18 m_residual(dimC),
19 m_dimCov(dimC),
20 m_dimProj(dimP),
21 m_offset(0) {}

◆ ~Projection()

virtual ~Projection ( )
inlinevirtual

destructor

Definition at line 26 of file Projection.h.

26{};

Member Function Documentation

◆ getDim()

int getDim ( ) const
inline

get size

Definition at line 62 of file Projection.h.

62{ return m_dimProj; }

◆ getDimCov()

int getDimCov ( ) const
inline

get size

Definition at line 65 of file Projection.h.

65{ return m_dimCov; }

◆ getElementInResiduals()

double getElementInResiduals ( int row)
inline

ge element in residuals

Definition at line 41 of file Projection.h.

41{ return m_residual(m_offset + row, 1); }

◆ getH() [1/2]

Eigen::Matrix< double, -1, -1, 0, 7, MAX_MATRIX_SIZE > & getH ( )
inline

get projection matrix

Definition at line 29 of file Projection.h.

29{return m_H;}

◆ getH() [2/2]

const Eigen::Matrix< double, -1, -1, 0, 7, MAX_MATRIX_SIZE > getH ( ) const
inline

get projection matrix

Definition at line 32 of file Projection.h.

32{return m_H;}

◆ getOffset()

unsigned int getOffset ( ) const
inline

get offset (for mergedcosntraints)

Definition at line 53 of file Projection.h.

53{ return m_offset; }

◆ getResiduals() [1/2]

Eigen::Matrix< double, -1, 1, 0, 7, 1 > & getResiduals ( )
inline

get residuals

Definition at line 35 of file Projection.h.

35{return m_residual;}

◆ getResiduals() [2/2]

const Eigen::Matrix< double, -1, 1, 0, 7, 1 > getResiduals ( ) const
inline

get residuals

Definition at line 38 of file Projection.h.

38{return m_residual;}

◆ getV() [1/2]

Eigen::Matrix< double, -1, -1, 0, 7, 7 > & getV ( )
inline

get residuals cov matrix

Definition at line 44 of file Projection.h.

44{return m_V;}

◆ getV() [2/2]

const Eigen::Matrix< double, -1, -1, 0, 7, 7 > & getV ( ) const
inline

get residuals cov matrix

Definition at line 47 of file Projection.h.

47{return m_V;}

◆ incrementOffset()

void incrementOffset ( unsigned int i)
inline

increment offset

Definition at line 56 of file Projection.h.

56{ m_offset += i; }

◆ offset()

unsigned int offset ( ) const
inline

get offset

Definition at line 59 of file Projection.h.

59{ return m_offset; }

◆ resetProjection()

void resetProjection ( )

reset projection

Definition at line 23 of file Projection.cc.

24 {
25 m_residual = Eigen::Matrix < double, -1, 1, 0, 7, 1 >::Zero(m_dimCov);
26 m_H = Eigen::Matrix < double, -1, -1, 0, 7, MAX_MATRIX_SIZE >::Zero(m_dimCov, m_dimProj);
27 m_V = Eigen::Matrix < double, -1, -1, 0, 7, 7 >::Zero(m_dimCov, m_dimCov);
28 m_offset = 0;
29 }

Member Data Documentation

◆ m_dimCov

int m_dimCov
private

dimension of the covariance

Definition at line 78 of file Projection.h.

◆ m_dimProj

int m_dimProj
private

dimension of H

Definition at line 81 of file Projection.h.

◆ m_H

Eigen::Matrix< double, -1, -1, 0, 7, MAX_MATRIX_SIZE > m_H
private

jacobian of the constraint, converts x,p,E<->system of residuals

Definition at line 69 of file Projection.h.

◆ m_offset

unsigned int m_offset
private

offset for constraint index.

used when there's more then one constraint projected

Definition at line 84 of file Projection.h.

◆ m_residual

Eigen::Matrix< double, -1, 1, 0, 7, 1 > m_residual
private

residuals of constraint

Definition at line 75 of file Projection.h.

◆ m_V

Eigen::Matrix< double, -1, -1, 0, 7, 7 > m_V
private

covariance matrix of this constraint (r')

Definition at line 72 of file Projection.h.

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