isae::PoseToLandmarkFactor Class Reference

Relative 3D translation between a 6DoF frame and a punctual landmark. More...

#include <residuals.hpp>

Inheritance diagram for isae::PoseToLandmarkFactor:

Collaboration diagram for isae::PoseToLandmarkFactor:

Public Member Functions
	PoseToLandmarkFactor (const Eigen::Vector3d delta, const Eigen::Affine3d T_f_w, const Eigen::Vector3d t_w_lmk, const Eigen::Matrix3d sqrt_inf)
	PoseToLandmarkFactor ()
virtual bool	Evaluate (double const *const *parameters, double *residuals, double **jacobians) const

Public Attributes
Eigen::Vector3d	_delta
Eigen::Vector3d	_t_w_lmk
	The prior delta and the landmark 3D position. More...
Eigen::Affine3d	_T_f_w
	The pose of the linked frame. More...
Eigen::Matrix3d	_sqrt_inf
	Square root information matrix. More...

Detailed Description

Relative 3D translation between a 6DoF frame and a punctual landmark.

Constructor & Destructor Documentation

PoseToLandmarkFactor() [1/2]

isae::PoseToLandmarkFactor::PoseToLandmarkFactor ( const Eigen::Vector3d  delta, const Eigen::Affine3d  T_f_w, const Eigen::Vector3d  t_w_lmk, const Eigen::Matrix3d  sqrt_inf  )

inline

PoseToLandmarkFactor() [2/2]

isae::PoseToLandmarkFactor::PoseToLandmarkFactor ( )

inline

Member Function Documentation

Evaluate()

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

inlinevirtual

Member Data Documentation

_delta

Eigen::Vector3d isae::PoseToLandmarkFactor::_delta

_sqrt_inf

Eigen::Matrix3d isae::PoseToLandmarkFactor::_sqrt_inf

Square root information matrix.

_T_f_w

Eigen::Affine3d isae::PoseToLandmarkFactor::_T_f_w

The pose of the linked frame.

_t_w_lmk

Eigen::Vector3d isae::PoseToLandmarkFactor::_t_w_lmk

The prior delta and the landmark 3D position.

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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