isae::AngularErrCeres_pointxd_depth Class Reference

An angular cost function that depends on the depth of the landmark, the current frame pose and the anchor frame pose. More...

#include <AngularAdjustmentCERESAnalytic.h>

Inheritance diagram for isae::AngularErrCeres_pointxd_depth:

Collaboration diagram for isae::AngularErrCeres_pointxd_depth:

Public Member Functions
	AngularErrCeres_pointxd_depth (const Eigen::Vector3d &bearing_vector, const Eigen::Vector3d &bearing_vector_cam, const Eigen::Affine3d &T_s_f, const Eigen::Affine3d &T_fa_w, const Eigen::Affine3d &T_f_w, const double depth, const double sigma=1)
	~AngularErrCeres_pointxd_depth ()
virtual bool	Evaluate (double const *const *parameters, double *residuals, double **jacobians) const

Protected Attributes
Eigen::Vector3d	_bearing_vector
Eigen::Vector3d	_bearing_vector_cam
const Eigen::Affine3d	_T_s_f
const Eigen::Affine3d	_T_f_w
const Eigen::Affine3d	_T_fa_w
const double	_depth
const double	_sigma

Detailed Description

An angular cost function that depends on the depth of the landmark, the current frame pose and the anchor frame pose.

Constructor & Destructor Documentation

AngularErrCeres_pointxd_depth()

isae::AngularErrCeres_pointxd_depth::AngularErrCeres_pointxd_depth ( const Eigen::Vector3d &  bearing_vector, const Eigen::Vector3d &  bearing_vector_cam, const Eigen::Affine3d &  T_s_f, const Eigen::Affine3d &  T_fa_w, const Eigen::Affine3d &  T_f_w, const double  depth, const double  sigma = 1  )

inline

~AngularErrCeres_pointxd_depth()

isae::AngularErrCeres_pointxd_depth::~AngularErrCeres_pointxd_depth ( )

inline

Member Function Documentation

Evaluate()

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

inlinevirtual

Member Data Documentation

_bearing_vector

Eigen::Vector3d isae::AngularErrCeres_pointxd_depth::_bearing_vector

protected

_bearing_vector_cam

Eigen::Vector3d isae::AngularErrCeres_pointxd_depth::_bearing_vector_cam

protected

_depth

const double isae::AngularErrCeres_pointxd_depth::_depth

protected

_sigma

const double isae::AngularErrCeres_pointxd_depth::_sigma

protected

_T_f_w

const Eigen::Affine3d isae::AngularErrCeres_pointxd_depth::_T_f_w

protected

_T_fa_w

const Eigen::Affine3d isae::AngularErrCeres_pointxd_depth::_T_fa_w

protected

_T_s_f

const Eigen::Affine3d isae::AngularErrCeres_pointxd_depth::_T_s_f

protected

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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