isae::AngularErrCeres_linexd_dx Class Reference

An angular cost function for line landmarks that depends on the delta update of the frame pose and the line parameters. More...

#include <AngularAdjustmentCERESAnalytic.h>

Inheritance diagram for isae::AngularErrCeres_linexd_dx:

Collaboration diagram for isae::AngularErrCeres_linexd_dx:

Public Member Functions
	AngularErrCeres_linexd_dx (const std::vector< Eigen::Vector3d > &bearing_vectors, const Eigen::Affine3d &T_s_f, const Eigen::Affine3d &T_f_w, const Eigen::Affine3d &T_w_lmk, const double sigma=1)
	~AngularErrCeres_linexd_dx ()
virtual bool	Evaluate (double const *const *parameters, double *residuals, double **jacobians) const

Protected Attributes
const std::vector< Eigen::Vector3d >	_bearing_vectors
	Bearing vectors of the line in the sensor frame. More...
const Eigen::Affine3d	_T_s_f
	Transform of the frame w.r.t. the sensor. More...
const Eigen::Affine3d	_T_f_w
	Transform of the world w.r.t. the frame. More...
const Eigen::Affine3d	_T_w_lmk
	Pose of the landmark in the world frame. More...
const double	_sigma
	Standard deviation for the residuals, used as a weight. More...

Detailed Description

An angular cost function for line landmarks that depends on the delta update of the frame pose and the line parameters.

Constructor & Destructor Documentation

AngularErrCeres_linexd_dx()

isae::AngularErrCeres_linexd_dx::AngularErrCeres_linexd_dx ( const std::vector< Eigen::Vector3d > &  bearing_vectors, const Eigen::Affine3d &  T_s_f, const Eigen::Affine3d &  T_f_w, const Eigen::Affine3d &  T_w_lmk, const double  sigma = 1  )

inline

~AngularErrCeres_linexd_dx()

isae::AngularErrCeres_linexd_dx::~AngularErrCeres_linexd_dx ( )

inline

Member Function Documentation

Evaluate()

virtual bool isae::AngularErrCeres_linexd_dx::Evaluate ( double const *const *  parameters, double *  residuals, double **  jacobians  ) const

inlinevirtual

Member Data Documentation

_bearing_vectors

const std::vector<Eigen::Vector3d> isae::AngularErrCeres_linexd_dx::_bearing_vectors

protected

Bearing vectors of the line in the sensor frame.

_sigma

const double isae::AngularErrCeres_linexd_dx::_sigma

protected

Standard deviation for the residuals, used as a weight.

_T_f_w

const Eigen::Affine3d isae::AngularErrCeres_linexd_dx::_T_f_w

protected

Transform of the world w.r.t. the frame.

_T_s_f

const Eigen::Affine3d isae::AngularErrCeres_linexd_dx::_T_s_f

protected

Transform of the frame w.r.t. the sensor.

_T_w_lmk

const Eigen::Affine3d isae::AngularErrCeres_linexd_dx::_T_w_lmk

protected

Pose of the landmark in the world frame.

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

• /home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/include/isaeslam/optimizers/AngularAdjustmentCERESAnalytic.h