isae::PosePriordx Class Reference

Absolute 6DoF pose prior factor. More...

#include <residuals.hpp>

Inheritance diagram for isae::PosePriordx:

Collaboration diagram for isae::PosePriordx:

Public Member Functions
	PosePriordx (const Eigen::Affine3d T, const Eigen::Affine3d T_prior, const Eigen::MatrixXd sqrt_inf)
	PosePriordx ()
virtual bool	Evaluate (double const *const *parameters, double *residuals, double **jacobians) const

Public Attributes
Eigen::Affine3d	_T
Eigen::Affine3d	_T_prior
	The 6DoF pose prior and its current value. More...
Eigen::MatrixXd	_sqrt_inf
	Square root information matrix. More...

Detailed Description

Absolute 6DoF pose prior factor.

Constructor & Destructor Documentation

PosePriordx() [1/2]

isae::PosePriordx::PosePriordx ( const Eigen::Affine3d  T, const Eigen::Affine3d  T_prior, const Eigen::MatrixXd  sqrt_inf  )

inline

PosePriordx() [2/2]

isae::PosePriordx::PosePriordx ( )

inline

Member Function Documentation

Evaluate()

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

inlinevirtual

Member Data Documentation

_sqrt_inf

Eigen::MatrixXd isae::PosePriordx::_sqrt_inf

Square root information matrix.

_T

Eigen::Affine3d isae::PosePriordx::_T

_T_prior

Eigen::Affine3d isae::PosePriordx::_T_prior

The 6DoF pose prior and its current value.

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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