|
double | amean |
|
Eigen::Matrix< double, 3, 1 > | err |
| error More...
|
|
bool | isValid |
| valid or not (could be out of bounds) More...
|
|
Eigen::Matrix< double, 3, 3 > | J0 |
| jacobian with respect to frames; uses dR'/dq from Node2d calculation More...
|
|
Eigen::Matrix< double, 3, 3 > | J0t |
|
Eigen::Matrix< double, 3, 3 > | J1 |
|
Eigen::Matrix< double, 3, 3 > | J1t |
|
int | nd1 |
| Node2d index for the second node. More...
|
|
EIGEN_MAKE_ALIGNED_OPERATOR_NEW int | ndr |
| Reference pose index. More...
|
|
Eigen::Matrix< double, 3, 3 > | prec |
|
Eigen::Vector2d | tmean |
| Mean vector, quaternion (inverse) and precision matrix for this constraint. More...
|
|
CONP2 holds a constraint measurement of a pose to a pose. They are a repository for links between poses within a frame, with aux info such as jacobians
Definition at line 141 of file spa2d.h.
void sba::Con2dP2::setJacobians |
( |
std::vector< Node2d, Eigen::aligned_allocator< Node2d > > & |
nodes | ) |
|
dpc/dq = dR'/dq [pw-t], in homogeneous form, with q a quaternion param dpc/dx = -R' * [1 0 0]', in homogeneous form, with x a translation param d(px/pz)/du = [ pz dpx/du - px dpz/du ] / pz^2, works for all variables
Definition at line 86 of file spa2d.cpp.