Class CeresPose

Defined in File ceres_pose.h

Nested Relationships

Nested Types

Struct CeresPose::Data

Class Documentation

class CeresPose

Public Functions

CeresPose(const transform::Rigid3d &rigid, std::unique_ptr<ceres::LocalParameterization> translation_parametrization, std::unique_ptr<ceres::LocalParameterization> rotation_parametrization, ceres::Problem *problem)

const transform::Rigid3d ToRigid() const

inline double *translation()

inline const double *translation() const

inline double *rotation()

inline const double *rotation() const

inline Data &data()

struct Data

Public Members

std::array<double, 3> translation

std::array<double, 4> rotation