PoseGraph2dErrorTerm Class Reference

#include <ceres_utils.h>

Public Member Functions
template<typename T >
bool	operator() (const T *const x_a, const T *const y_a, const T *const yaw_a, const T *const x_b, const T *const y_b, const T *const yaw_b, T *residuals_ptr) const
	PoseGraph2dErrorTerm (double x_ab, double y_ab, double yaw_ab_radians, const Eigen::Matrix3d &sqrt_information)

Static Public Member Functions
static ceres::CostFunction *	Create (double x_ab, double y_ab, double yaw_ab_radians, const Eigen::Matrix3d &sqrt_information)

Private Attributes
const Eigen::Vector2d	p_ab_
const Eigen::Matrix3d	sqrt_information_
const double	yaw_ab_radians_

Detailed Description

Definition at line 68 of file ceres_utils.h.

Constructor & Destructor Documentation

PoseGraph2dErrorTerm()

PoseGraph2dErrorTerm::PoseGraph2dErrorTerm ( double  x_ab, double  y_ab, double  yaw_ab_radians, const Eigen::Matrix3d &  sqrt_information  )

inline

Definition at line 71 of file ceres_utils.h.

Member Function Documentation

Create()

static ceres::CostFunction* PoseGraph2dErrorTerm::Create ( double  x_ab, double  y_ab, double  yaw_ab_radians, const Eigen::Matrix3d &  sqrt_information  )

inlinestatic

Definition at line 89 of file ceres_utils.h.

operator()()

template<typename T >

bool PoseGraph2dErrorTerm::operator() ( const T *const  x_a, const T *const  y_a, const T *const  yaw_a, const T *const  x_b, const T *const  y_b, const T *const  yaw_b, T *  residuals_ptr  ) const

inline

Definition at line 77 of file ceres_utils.h.

Member Data Documentation

p_ab_

const Eigen::Vector2d PoseGraph2dErrorTerm::p_ab_

private

Definition at line 97 of file ceres_utils.h.

sqrt_information_

const Eigen::Matrix3d PoseGraph2dErrorTerm::sqrt_information_

private

Definition at line 101 of file ceres_utils.h.

yaw_ab_radians_

const double PoseGraph2dErrorTerm::yaw_ab_radians_

private

Definition at line 99 of file ceres_utils.h.

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

• ceres_utils.h