numericalDiff.h
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00001 
00028 #pragma once
00029 
00030 #include <vector>
00031 #include <Eigen/Dense>
00032 
00033 #include "isam/Node.h"
00034 
00035 namespace isam {
00036 
00037 // Abstract class to enforce interface for function object.
00038 class Function {
00039 public:
00040   virtual ~Function() {}
00041   virtual int num_measurements() const = 0;
00042   virtual Eigen::VectorXd evaluate() const = 0;
00043   virtual std::vector<Node*>& nodes() = 0;
00044 };
00045 
00053 Eigen::MatrixXd numericalDiff(Function& func);
00054 
00055 }


demo_rgbd
Author(s): Ji Zhang
autogenerated on Sun Oct 5 2014 23:25:11