isae::Landmark3DPrior Class Reference

A factor for absolute 3D position constraint on a punctual landmark. More...

#include <residuals.hpp>

Inheritance diagram for isae::Landmark3DPrior:

Collaboration diagram for isae::Landmark3DPrior:

Public Member Functions
	Landmark3DPrior (const Eigen::Vector3d prior, const Eigen::Vector3d lmk, const Eigen::Matrix3d sqrt_inf)
	Landmark3DPrior ()
virtual bool	Evaluate (double const *const *parameters, double *residuals, double **jacobians) const

Public Attributes
Eigen::Vector3d	_prior
Eigen::Vector3d	_lmk
	Prior and current 3D positions. More...
Eigen::Matrix3d	_sqrt_inf
	Square root information matrix. More...

Detailed Description

A factor for absolute 3D position constraint on a punctual landmark.

Constructor & Destructor Documentation

Landmark3DPrior() [1/2]

isae::Landmark3DPrior::Landmark3DPrior ( const Eigen::Vector3d  prior, const Eigen::Vector3d  lmk, const Eigen::Matrix3d  sqrt_inf  )

inline

Landmark3DPrior() [2/2]

isae::Landmark3DPrior::Landmark3DPrior ( )

inline

Member Function Documentation

Evaluate()

virtual bool isae::Landmark3DPrior::Evaluate ( double const *const *  parameters, double *  residuals, double **  jacobians  ) const

inlinevirtual

Member Data Documentation

_lmk

Eigen::Vector3d isae::Landmark3DPrior::_lmk

Prior and current 3D positions.

_prior

Eigen::Vector3d isae::Landmark3DPrior::_prior

_sqrt_inf

Eigen::Matrix3d isae::Landmark3DPrior::_sqrt_inf

Square root information matrix.

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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/residuals.hpp