17 #ifndef CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_TRANSLATION_DELTA_COST_FUNCTOR_H_ 18 #define CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_TRANSLATION_DELTA_COST_FUNCTOR_H_ 24 namespace mapping_3d {
25 namespace scan_matching {
34 const double scaling_factor,
37 x_(initial_pose_estimate.translation().x()),
38 y_(initial_pose_estimate.translation().y()),
39 z_(initial_pose_estimate.translation().z()) {}
46 bool operator()(
const T*
const translation, T* residual)
const {
64 #endif // CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_TRANSLATION_DELTA_COST_FUNCTOR_H_ TranslationDeltaCostFunctor & operator=(const TranslationDeltaCostFunctor &)=delete
bool operator()(const T *const translation, T *residual) const
const double scaling_factor_
TranslationDeltaCostFunctor(const double scaling_factor, const transform::Rigid3d &initial_pose_estimate)