isae::MarginalizationBlockInfo Struct Reference

Marginalization block struct that stores a factor and the indices of the variables involved. More...

#include <marginalization.hpp>

Public Member Functions
	MarginalizationBlockInfo (ceres::CostFunction *cost_function, std::vector< int > parameter_idx, std::vector< double * > parameter_blocks)
void	Evaluate ()

Public Attributes
ceres::CostFunction *	_cost_function
std::vector< int >	_parameter_idx
std::vector< double * >	_parameter_blocks
double **	_raw_jacobians
std::vector< Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor > >	_jacobians
Eigen::VectorXd	_residuals

Detailed Description

Marginalization block struct that stores a factor and the indices of the variables involved.

Constructor & Destructor Documentation

MarginalizationBlockInfo()

isae::MarginalizationBlockInfo::MarginalizationBlockInfo ( ceres::CostFunction *  cost_function, std::vector< int >  parameter_idx, std::vector< double * >  parameter_blocks  )

inline

Member Function Documentation

Evaluate()

void isae::MarginalizationBlockInfo::Evaluate

(

)

Member Data Documentation

_cost_function

ceres::CostFunction* isae::MarginalizationBlockInfo::_cost_function

_jacobians

std::vector<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> > isae::MarginalizationBlockInfo::_jacobians

_parameter_blocks

std::vector<double *> isae::MarginalizationBlockInfo::_parameter_blocks

_parameter_idx

std::vector<int> isae::MarginalizationBlockInfo::_parameter_idx

_raw_jacobians

double** isae::MarginalizationBlockInfo::_raw_jacobians

_residuals

Eigen::VectorXd isae::MarginalizationBlockInfo::_residuals

---

The documentation for this struct was generated from the following files:

• /home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/include/isaeslam/optimizers/marginalization.hpp
• /home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/src/optimizers/marginalization.cpp