Formulation

[Sparsh Jain]

Question:
I am trying to understand DynamicAutoDiffCostFunction through the robot_pose_mle example as provided in the documentation. I was wondering that if I need to introduce Paramter constraints for parameter_blocks, then how will I have to formulate it? Since the SetParameterLowerBound accepts only parameters of the form *double.

[Sameer Agarwal]

Sparsh,

 The parameter block constraints are set in Problem, how are they connected to DynamicAutoDiffCostFunction? are you worried about the template parameters ? you don't need to worry about them as evaluation of the cost function is decoupled from how parameters bounds are enforced. And the templated methods get instantiated with doubles and with Jets.

Sameer

On Thu, Jul 20, 2017 at 5:05 AM Sparsh Jain <spar...@gmail.com> wrote:

Question:
I am trying to understand DynamicAutoDiffCostFunction through the robot_pose_mle example as provided in the documentation. I was wondering that if I need to introduce Paramter constraints for parameter_blocks, then how will I have to formulate it? Since the SetParameterLowerBound accepts only parameters of the form *double.

--
You received this message because you are subscribed to the Google Groups "Ceres Solver" group.
To unsubscribe from this group and stop receiving emails from it, send an email to ceres-solver...@googlegroups.com.
To view this discussion on the web visit https://groups.google.com/d/msgid/ceres-solver/d6c8b8e8-b3df-47f7-bf2c-2d8e1ffcc98b%40googlegroups.com.
For more options, visit https://groups.google.com/d/optout.

[Sparsh Jain]

I think I framed my question a little wrong. In the DynamicAutoDiffCostFunction, is it possible to use both a parameter, whose size is known at runtime, and a parameter whose size i know beforehand? I need to keep the latter constant.

[Sameer Agarwal]

I am still confused.
Do you want to keep the size constant or the value constant?
Both are possible.

To view this discussion on the web visit https://groups.google.com/d/msgid/ceres-solver/ce68361e-486b-4269-b8f3-6ab5866cb9af%40googlegroups.com.

[Sparsh Jain]

I want to keep the size constant. One of the parameters have a variable size, and the other has a constant size. Is it possible to define them using DynamicAutoDiffCostFunction?
If yes, Please guide me how. Thank you

[Sameer Agarwal]

Sparsh,

I am still not sure what he problem is that is holding you back. Just use DynamicAutoDiffCostFunction, it will do what you need.

Sameer

On Sun, Jul 23, 2017 at 8:28 AM Sparsh Jain <spar...@gmail.com> wrote:

I want to keep the size constant. One of the parameters have a variable size, and the other has a constant size. Is it possible to define them using DynamicAutoDiffCostFunction?
If yes, Please guide me how. Thank you

--
You received this message because you are subscribed to the Google Groups "Ceres Solver" group.
To unsubscribe from this group and stop receiving emails from it, send an email to ceres-solver...@googlegroups.com.

To view this discussion on the web visit https://groups.google.com/d/msgid/ceres-solver/d4943003-41dc-49a7-a812-e4fefeb6f845%40googlegroups.com.