Program Listing for File normal_prior_pose_2d.hpp

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#ifndef FUSE_CONSTRAINTS__NORMAL_PRIOR_POSE_2D_HPP_
#define FUSE_CONSTRAINTS__NORMAL_PRIOR_POSE_2D_HPP_

#include <ceres/sized_cost_function.h>

#include <fuse_core/eigen.hpp>


namespace fuse_constraints
{

class NormalPriorPose2D : public ceres::SizedCostFunction<ceres::DYNAMIC, 2, 1>
{
public:
  NormalPriorPose2D(const fuse_core::MatrixXd & A, const fuse_core::Vector3d & b);

  virtual ~NormalPriorPose2D() = default;

  virtual bool Evaluate(
    double const * const * parameters,
    double * residuals,
    double ** jacobians) const;

private:
  fuse_core::MatrixXd A_;
  fuse_core::Vector3d b_;
};

}  // namespace fuse_constraints

#endif  // FUSE_CONSTRAINTS__NORMAL_PRIOR_POSE_2D_HPP_