A cost function to impose a constraint on 2D motion. More...

#include <residuals.hpp>

Inheritance diagram for isae::Motion2DFactor:

Collaboration diagram for isae::Motion2DFactor:

Public Member Functions
	Motion2DFactor (const Eigen::Vector2d motion_2d, const Eigen::MatrixXd sqrt_inf, const double dt)

	Motion2DFactor ()

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

Public Attributes
Eigen::Vector2d	_motion_2d
	The velocity on the 2D plane. More...

Eigen::MatrixXd	_sqrt_inf
	The square root informatino matrix of the measurement. More...

double	_dt
	The integration time. More...

double	_dx
	The forward displacement. More...

double	_dtheta
	The angular displacement. More...

Detailed Description

A cost function to impose a constraint on 2D motion.

Constructor & Destructor Documentation

◆ Motion2DFactor() [1/2]

isae::Motion2DFactor::Motion2DFactor	(	const Eigen::Vector2d	motion_2d,
		const Eigen::MatrixXd	sqrt_inf,
		const double	dt
	)

inline

◆ Motion2DFactor() [2/2]

isae::Motion2DFactor::Motion2DFactor ( )

inline

Member Function Documentation

◆ Evaluate()

virtual bool isae::Motion2DFactor::Evaluate	(	double const const	parameters,
		double *	residuals,
		double **	jacobians
	)		const

inlinevirtual

Member Data Documentation

◆ _dt

double isae::Motion2DFactor::_dt

The integration time.

◆ _dtheta

double isae::Motion2DFactor::_dtheta

The angular displacement.

◆ _dx

double isae::Motion2DFactor::_dx

The forward displacement.

◆ _motion_2d

Eigen::Vector2d isae::Motion2DFactor::_motion_2d

The velocity on the 2D plane.

◆ _sqrt_inf

Eigen::MatrixXd isae::Motion2DFactor::_sqrt_inf

The square root informatino matrix of the measurement.

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

Public Member Functions

Public Attributes