Function fuse_core::loadCovarianceOptionsFromROS

• Defined in File ceres_options.hpp

Function Documentation

void fuse_core::loadCovarianceOptionsFromROS(node_interfaces::NodeInterfaces<node_interfaces::Base, node_interfaces::Logging, node_interfaces::Parameters> interfaces, ceres::Covariance::Options &covariance_options, const std::string &ns = std::string())

Populate a ceres::Covariance::Options object with information from the parameter server.

Parameters:

• interfaces – [in] - Node interfaces for a node in a namespace containing ceres::Covariance::Options settings

• covariance_options – [out] - The ceres::Covariance::Options object to update

• namespace_string – [in] - Period delimited string to prepend to the loaded parameters’ names