.. _exhale_function_group__mp2p__icp__grp_1ga13c0c053fdb4ef00d31e46a5b3b6e175:

Function mp2p_icp::error_point2line
===================================

- Defined in :ref:`file_mp2p_icp_include_mp2p_icp_errorTerms.h`


Function Documentation
----------------------


.. doxygenfunction:: mp2p_icp::error_point2line(const mp2p_icp::point_line_pair_t&, const mrpt::poses::CPose3D&, mrpt::optional_ref<mrpt::math::CMatrixFixed<double, 3, 12>>)
   :project: mp2p_icp Doxygen Project