Public Member Functions | Public Attributes | List of all members
sba::ConScale Class Reference

#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:


sparse_bundle_adjustment
Author(s):
autogenerated on Wed Mar 2 2022 01:03:04