isae::AngularErrorScaleCam0 Class Reference

An angular cost function that depends on the scale of the motion. More...

#include <AngularAdjustmentCERESAnalytic.h>

Inheritance diagram for isae::AngularErrorScaleCam0:

Collaboration diagram for isae::AngularErrorScaleCam0:

Public Member Functions
	AngularErrorScaleCam0 (const Eigen::Vector3d &bearing_vector, const Eigen::Vector3d &t_w_lmk, const Eigen::Affine3d &T_cam0_w, const Eigen::Affine3d &T_cam0_cam0p, const Eigen::Affine3d &T_cam_cam0, const double sigma)
	AngularErrorScaleCam0 ()
virtual bool	Evaluate (double const *const *parameters, double *residuals, double **jacobians) const

Public Attributes
const Eigen::Vector3d	_bearing_vector
const Eigen::Vector3d	_t_w_lmk
const Eigen::Affine3d	_T_cam0_w
const Eigen::Affine3d	_T_cam0_cam0p
const Eigen::Affine3d	_T_cam_cam0
double	_sigma

Detailed Description

An angular cost function that depends on the scale of the motion.

Constructor & Destructor Documentation

AngularErrorScaleCam0() [1/2]

isae::AngularErrorScaleCam0::AngularErrorScaleCam0 ( const Eigen::Vector3d &  bearing_vector, const Eigen::Vector3d &  t_w_lmk, const Eigen::Affine3d &  T_cam0_w, const Eigen::Affine3d &  T_cam0_cam0p, const Eigen::Affine3d &  T_cam_cam0, const double  sigma  )

inline

AngularErrorScaleCam0() [2/2]

isae::AngularErrorScaleCam0::AngularErrorScaleCam0 ( )

inline

Member Function Documentation

Evaluate()

virtual bool isae::AngularErrorScaleCam0::Evaluate ( double const *const *  parameters, double *  residuals, double **  jacobians  ) const

inlinevirtual

Member Data Documentation

_bearing_vector

const Eigen::Vector3d isae::AngularErrorScaleCam0::_bearing_vector

_sigma

double isae::AngularErrorScaleCam0::_sigma

_T_cam0_cam0p

const Eigen::Affine3d isae::AngularErrorScaleCam0::_T_cam0_cam0p

_T_cam0_w

const Eigen::Affine3d isae::AngularErrorScaleCam0::_T_cam0_w

_T_cam_cam0

const Eigen::Affine3d isae::AngularErrorScaleCam0::_T_cam_cam0

_t_w_lmk

const Eigen::Vector3d isae::AngularErrorScaleCam0::_t_w_lmk

---

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