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<div class="title">manifold.h</div> </div>
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<a href="ceres_2manifold_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// Copyright (c) 2011, Hauke Strasdat</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// Copyright (c) 2012, Steven Lovegrove</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">// Copyright (c) 2021, farm-ng, inc.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">//</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">// Use of this source code is governed by an MIT-style</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">// license that can be found in the LICENSE file or at</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">// https://opensource.org/licenses/MIT.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  </div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  </div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include "<a class="code" href="typetraits_8h.html">sophus/ceres/typetraits.h</a>"</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  </div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="keyword">namespace </span>sophus::ceres {</div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"></span> </div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">/// Templated local parameterization for LieGroup [with implemented</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">/// LieGroup::Dx_this_mul_exp_x_at_0() ]</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"></span><span class="keyword">template</span> <<span class="keyword">template</span> <<span class="keyword">class</span>> <span class="keyword">class </span>TLieGroup></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="keyword">class </span><a class="code" href="namespacesophus_1_1concepts.html#a47fb6da6506cae41a73d22d46a81c163">Manifold</a> : <span class="keyword">public</span> <a class="code" href="namespacesophus_1_1concepts.html#a47fb6da6506cae41a73d22d46a81c163">::ceres::Manifold</a> {</div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  <span class="keyword">using</span> LieGroupF64 = TLieGroup<double>;</div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  <span class="keyword">static</span> <span class="keywordtype">int</span> constexpr kDof = LieGroupF64::kDof;</div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <span class="keyword">static</span> <span class="keywordtype">int</span> constexpr kNumParams = LieGroupF64::kNumParams;</div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  </div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <span class="keyword">using</span> <a class="code" href="namespacesophus_1_1concepts.html#a4144508616d6bff3e6cca31364bd2026">Tangent</a> = Eigen::Vector<double, kDof>;</div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <span class="keyword">using</span> <a class="code" href="namespacesophus_1_1concepts.html#af4d9feed8b66d67a444cc43f8d1df866">Params</a> = Eigen::Vector<double, kNumParams>;</div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"></span> </div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> /// LieGroup plus operation for Ceres</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> ///</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> /// T * exp(x)</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> ///</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"></span> <span class="keywordtype">bool</span> Plus(</div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <span class="keywordtype">double</span> <span class="keyword">const</span>* t_raw,</div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <span class="keywordtype">double</span> <span class="keyword">const</span>* delta_raw,</div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="keywordtype">double</span>* t_plus_delta_raw)<span class="keyword"> const override </span>{</div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  LieGroupF64 t = LieGroupF64::fromParams(Eigen::Map<Params const>(t_raw));</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  Eigen::Map<Tangent const> delta(delta_raw);</div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  </div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  Eigen::Map<Params> out_params(t_plus_delta_raw);</div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  LieGroupF64 t_plus_delta = t * LieGroupF64::exp(delta);</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  out_params = t_plus_delta.params();</div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  }</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="comment"></span> </div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="comment"> /// Jacobian of LieGroup plus operation for Ceres</span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="comment"> ///</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="comment"> /// Dx T * exp(x) with x=0</span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="comment"> ///</span></div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="comment"></span> <span class="keywordtype">bool</span> PlusJacobian(<span class="keywordtype">double</span> <span class="keyword">const</span>* t_raw, <span class="keywordtype">double</span>* jacobian_raw)<span class="keyword"> const override </span>{</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  LieGroupF64 t = LieGroupF64::fromParams(Eigen::Map<Params const>(t_raw));</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  Eigen::Map<Eigen::Matrix<</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  double,</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  kNumParams,</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  kDof,</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  kDof == 1 ? Eigen::ColMajor : Eigen::RowMajor>></div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  jacobian(jacobian_raw);</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  jacobian = t.dxThisMulExpXAt0();</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  }</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  </div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keywordtype">bool</span> Minus(<span class="keywordtype">double</span> <span class="keyword">const</span>* y_raw, <span class="keywordtype">double</span> <span class="keyword">const</span>* x_raw, <span class="keywordtype">double</span>* y_minus_x_raw)<span class="keyword"></span></div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> <span class="keyword"> const override </span>{</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  LieGroupF64 y = LieGroupF64::fromParams(Eigen::Map<Params const>(y_raw));</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  LieGroupF64 x = LieGroupF64::fromParams(Eigen::Map<Params const>(x_raw));</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  Eigen::Map<Tangent> out_params(y_minus_x_raw);</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  out_params = (x.inverse() * y).log();</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  }</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  </div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keywordtype">bool</span> MinusJacobian(<span class="keywordtype">double</span> <span class="keyword">const</span>* x_raw, <span class="keywordtype">double</span>* jacobian_raw)<span class="keyword"> const override </span>{</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  LieGroupF64 x = LieGroupF64::fromParams(Eigen::Map<Params const>(x_raw));</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  Eigen::Map<Eigen::Matrix<double, kDof, kNumParams, Eigen::RowMajor>></div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  jacobian(jacobian_raw);</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  jacobian = x.dxLogThisInvTimesXAtThis();</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  }</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  </div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  [[nodiscard]] <span class="keywordtype">int</span> AmbientSize()<span class="keyword"> const override </span>{</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keywordflow">return</span> LieGroupF64::kNumParams;</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  }</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  </div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  [[nodiscard]] <span class="keywordtype">int</span> TangentSize()<span class="keyword"> const override </span>{ <span class="keywordflow">return</span> LieGroupF64::kDof; }</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span> };</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  </div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span> } <span class="comment">// namespace sophus::ceres</span></div>
<div class="ttc" id="anamespacesophus_1_1concepts_html_a4144508616d6bff3e6cca31364bd2026"><div class="ttname"><a href="namespacesophus_1_1concepts.html#a4144508616d6bff3e6cca31364bd2026">sophus::concepts::Tangent</a></div><div class="ttdeci">concept Tangent</div><div class="ttdef"><b>Definition:</b> params.h:34</div></div>
<div class="ttc" id="anamespacesophus_1_1concepts_html_a47fb6da6506cae41a73d22d46a81c163"><div class="ttname"><a href="namespacesophus_1_1concepts.html#a47fb6da6506cae41a73d22d46a81c163">sophus::concepts::Manifold</a></div><div class="ttdeci">concept Manifold</div><div class="ttdef"><b>Definition:</b> manifold.h:33</div></div>
<div class="ttc" id="anamespacesophus_1_1concepts_html_af4d9feed8b66d67a444cc43f8d1df866"><div class="ttname"><a href="namespacesophus_1_1concepts.html#af4d9feed8b66d67a444cc43f8d1df866">sophus::concepts::Params</a></div><div class="ttdeci">concept Params</div><div class="ttdef"><b>Definition:</b> params.h:41</div></div>
<div class="ttc" id="atypetraits_8h_html"><div class="ttname"><a href="typetraits_8h.html">typetraits.h</a></div></div>
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