[RST-1926] extend local param definition #40
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| * | ||
| * And the second functor should compute the inverse operation: | ||
| * | ||
| * Minus(x1, x2) -> delta, such that Minus(x, Plus(x, delta)) = delta |
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Would this be clearer to say "such that Plus(x1, delta) = x2"?
| * | ||
| * For more information on local parameterizations, see fuse_core::LocalParameterization | ||
| */ | ||
| template <typename PlusFunctor, typename MinusFunctor, int kGlobalSize, int kLocalSize> |
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I assume the variable naming scheme is for consistency with Ceres.
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I was going to drop the leading k, but ceres::LocalParameterization defines GlobalSize() and LocalSize() methods. That means the template names cannot also be GlobalSize and LocalSize. Since I didn't have any better ideas, I went with the kGlobalSize and kLocalSize from the Ceres implementation. Happy to change it if you have a better suggestion.
| double* jacobian) const | ||
| { | ||
| double zero_delta[kLocalSize]; | ||
| for (int i = 0; i < kLocalSize; ++i) |
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Doubt it's any faster, but can you use std::fill here?
std::fill(zero_delta, zero_delta + kLocalSize, 0.0);
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These are actually zero-initialized by the compiler. Removing the initialization entirely.
https://en.cppreference.com/w/cpp/language/zero_initialization
double f[3]; // zero-initialized to three 0.0's
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Actually, maybe I'm lying. That's only for static/global-scope.
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But empty brace-initialization does work.
double zero_delta[kLocalSize] = {};
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This PR extends the definition of a LocalParameterization to include a
Minus()function, the conceptual inverse of thePlus()function. This is a prerequisite for marginalization support.The Orientation2D and Orientation3D variable classes will be temporarily broken. An upcoming PR (#41) will fix those classes up separately. That means some of the orientation/pose unit tests will be broken.
Scope Creep:
cc91396 - I was cleaning up the Orientation2D class and ended up breaking the Path2D publisher. It relied on non-standard functionality of the variable classes. So I ended up fixing the Path2D publisher in the PR as well.