#include <sba.h>

Public Member Functions
double	calcErr (const Node &nd0, const Node &nd1, double alpha)
	calculates projection error and stores it in <err> More...

void	setJacobians (std::vector< Node, Eigen::aligned_allocator< Node > > &nodes)
	jacobians are computed from (ti - tj)^2 - a*kij = 0 More...

Public Attributes
double	err
	error More...

bool	isValid
	valid or not (could be out of bounds) More...

Eigen::Vector3d	J0

Eigen::Vector3d	J1

double	ks
	Scale factor for this constraint. More...

EIGEN_MAKE_ALIGNED_OPERATOR_NEW int	nd0
	Reference pose index. More...

int	nd1
	Node index for the second node. More...

int	sv
	Scale variable index. More...

double	w
	Weight for this constraint. More...

Detailed Description

CONSCALE holds a constraint measurement on the scale of a pose-pose constraint, in a scale group

Definition at line 349 of file sba.h.

Member Function Documentation

◆ calcErr()

double sba::ConScale::calcErr	(	const Node &	nd0,
		const Node &	nd1,
		double	alpha
	)

inline

calculates projection error and stores it in <err>

Definition at line 629 of file spa.cpp.

◆ setJacobians()

void sba::ConScale::setJacobians ( std::vector< Node, Eigen::aligned_allocator< Node > > & nodes )

jacobians are computed from (ti - tj)^2 - a*kij = 0

Definition at line 380 of file spa.cpp.

Member Data Documentation

◆ err

double sba::ConScale::err

error

Definition at line 370 of file sba.h.

◆ isValid

bool sba::ConScale::isValid

valid or not (could be out of bounds)

Definition at line 386 of file sba.h.

◆ J0

Eigen::Vector3d sba::ConScale::J0

jacobian with respect to reference frame: -2(t1 - t0)

Definition at line 376 of file sba.h.

◆ J1

Eigen::Vector3d sba::ConScale::J1

jacobian with respect to second frame: 2(t1 - t0)

Definition at line 380 of file sba.h.

◆ ks

double sba::ConScale::ks

Scale factor for this constraint.

Definition at line 364 of file sba.h.

◆ nd0

EIGEN_MAKE_ALIGNED_OPERATOR_NEW int sba::ConScale::nd0

Reference pose index.

Definition at line 355 of file sba.h.

◆ nd1

int sba::ConScale::nd1

Node index for the second node.

Definition at line 358 of file sba.h.

◆ sv

int sba::ConScale::sv

Scale variable index.

Definition at line 361 of file sba.h.

◆ w

double sba::ConScale::w

Weight for this constraint.

Definition at line 367 of file sba.h.

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

Public Member Functions

Public Attributes