isae::LandmarkToLandmarkFactor Class Reference

3D relative translation factor between 3D punctual landmarks More...

#include <residuals.hpp>

Inheritance diagram for isae::LandmarkToLandmarkFactor:

Collaboration diagram for isae::LandmarkToLandmarkFactor:

Public Member Functions
	LandmarkToLandmarkFactor (const Eigen::Vector3d delta, const Eigen::Vector3d lmk0, const Eigen::Vector3d lmk1, const Eigen::Matrix3d sqrt_inf)
	LandmarkToLandmarkFactor ()
virtual bool	Evaluate (double const *const *parameters, double *residuals, double **jacobians) const

Public Attributes
Eigen::Vector3d	_delta
Eigen::Vector3d	_lmk0
Eigen::Vector3d	_lmk1
	Prior on relative translation and positions of the landmarks. More...
Eigen::Matrix3d	_sqrt_inf
	Square root information matrix. More...

Detailed Description

3D relative translation factor between 3D punctual landmarks

Constructor & Destructor Documentation

LandmarkToLandmarkFactor() [1/2]

isae::LandmarkToLandmarkFactor::LandmarkToLandmarkFactor ( const Eigen::Vector3d  delta, const Eigen::Vector3d  lmk0, const Eigen::Vector3d  lmk1, const Eigen::Matrix3d  sqrt_inf  )

inline

LandmarkToLandmarkFactor() [2/2]

isae::LandmarkToLandmarkFactor::LandmarkToLandmarkFactor ( )

inline

Member Function Documentation

Evaluate()

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

inlinevirtual

Member Data Documentation

_delta

Eigen::Vector3d isae::LandmarkToLandmarkFactor::_delta

_lmk0

Eigen::Vector3d isae::LandmarkToLandmarkFactor::_lmk0

_lmk1

Eigen::Vector3d isae::LandmarkToLandmarkFactor::_lmk1

Prior on relative translation and positions of the landmarks.

_sqrt_inf

Eigen::Matrix3d isae::LandmarkToLandmarkFactor::_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