31 #ifndef EXAMPLES_CERES_TYPES_H_ 32 #define EXAMPLES_CERES_TYPES_H_ 40 #include "Eigen/Geometry" 50 static std::string
name() {
51 return "VERTEX_SE3:QUAT";
54 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
58 input >> pose.
p.x() >> pose.
p.y() >> pose.
p.z() >> pose.
q.x() >>
59 pose.
q.y() >> pose.
q.z() >> pose.
q.w();
66 typedef std::map<int, Pose3d, std::less<int>,
67 Eigen::aligned_allocator<std::pair<const int, Pose3d> > >
86 static std::string
name() {
87 return "EDGE_SE3:QUAT";
90 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
97 for (
int i = 0; i < 6 && input.good(); ++i) {
98 for (
int j = i; j < 6 && input.good(); ++j) {
108 typedef std::vector<Constraint3d, Eigen::aligned_allocator<Constraint3d> >
114 #endif // EXAMPLES_CERES_TYPES_H_ std::istream & operator>>(std::istream &input, Pose2d &pose)
Eigen::Matrix< double, 6, 6 > information
static std::string name()
static std::string name()
std::map< int, Pose3d, std::less< int >, Eigen::aligned_allocator< std::pair< const int, Pose3d > > > MapOfPoses
std::vector< Constraint3d, Eigen::aligned_allocator< Constraint3d > > VectorOfConstraints