isae::Relative6DPose Class Reference

A cost function for 6DoF relative pose constraint, the parameters are the delta pose of the two related poses. More...

#include <residuals.hpp>

Inheritance diagram for isae::Relative6DPose:

Collaboration diagram for isae::Relative6DPose:

Public Member Functions
	Relative6DPose (const Eigen::Affine3d T_w_a, const Eigen::Affine3d T_w_b, const Eigen::Affine3d T_a_b_prior, const Eigen::MatrixXd sqrt_inf)
	Relative6DPose ()
virtual bool	Evaluate (double const *const *parameters, double *residuals, double **jacobians) const

Public Attributes
Eigen::Affine3d	_T_w_a
Eigen::Affine3d	_T_w_b
Eigen::Affine3d	_T_a_b_prior
	All the poses needed. More...
Eigen::MatrixXd	_sqrt_inf
	Square root of the information matrix. More...

Detailed Description

A cost function for 6DoF relative pose constraint, the parameters are the delta pose of the two related poses.

Constructor & Destructor Documentation

Relative6DPose() [1/2]

isae::Relative6DPose::Relative6DPose ( const Eigen::Affine3d  T_w_a, const Eigen::Affine3d  T_w_b, const Eigen::Affine3d  T_a_b_prior, const Eigen::MatrixXd  sqrt_inf  )

inline

Relative6DPose() [2/2]

isae::Relative6DPose::Relative6DPose ( )

inline

Member Function Documentation

Evaluate()

virtual bool isae::Relative6DPose::Evaluate ( double const *const *  parameters, double *  residuals, double **  jacobians  ) const

inlinevirtual

Member Data Documentation

_sqrt_inf

Eigen::MatrixXd isae::Relative6DPose::_sqrt_inf

Square root of the information matrix.

_T_a_b_prior

Eigen::Affine3d isae::Relative6DPose::_T_a_b_prior

All the poses needed.

_T_w_a

Eigen::Affine3d isae::Relative6DPose::_T_w_a

_T_w_b

Eigen::Affine3d isae::Relative6DPose::_T_w_b

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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