cartographer::mapping::AccelerationCostFunction3D Class Reference

#include <acceleration_cost_function_3d.h>

Public Member Functions
template<typename T >
bool	operator() (const T *const middle_rotation, const T *const start_position, const T *const middle_position, const T *const end_position, const T *const gravity_constant, const T *const imu_calibration, T *residual) const

Static Public Member Functions
static ceres::CostFunction *	CreateAutoDiffCostFunction (const double scaling_factor, const Eigen::Vector3d &delta_velocity_imu_frame, const double first_delta_time_seconds, const double second_delta_time_seconds)

Private Member Functions
	AccelerationCostFunction3D (const double scaling_factor, const Eigen::Vector3d &delta_velocity_imu_frame, const double first_delta_time_seconds, const double second_delta_time_seconds)
	AccelerationCostFunction3D (const AccelerationCostFunction3D &)=delete
AccelerationCostFunction3D &	operator= (const AccelerationCostFunction3D &)=delete

Static Private Member Functions
template<typename T >
static Eigen::Quaternion< T >	ToEigen (const T *const quaternion)

Private Attributes
const Eigen::Vector3d	delta_velocity_imu_frame_
const double	first_delta_time_seconds_
const double	scaling_factor_
const double	second_delta_time_seconds_

Detailed Description

Definition at line 28 of file acceleration_cost_function_3d.h.

Constructor & Destructor Documentation

AccelerationCostFunction3D() [1/2]

cartographer::mapping::AccelerationCostFunction3D::AccelerationCostFunction3D ( const double  scaling_factor, const Eigen::Vector3d &  delta_velocity_imu_frame, const double  first_delta_time_seconds, const double  second_delta_time_seconds  )

inlineprivate

Definition at line 76 of file acceleration_cost_function_3d.h.

AccelerationCostFunction3D() [2/2]

cartographer::mapping::AccelerationCostFunction3D::AccelerationCostFunction3D ( const AccelerationCostFunction3D &  )

privatedelete

Member Function Documentation

CreateAutoDiffCostFunction()

static ceres::CostFunction* cartographer::mapping::AccelerationCostFunction3D::CreateAutoDiffCostFunction ( const double  scaling_factor, const Eigen::Vector3d &  delta_velocity_imu_frame, const double  first_delta_time_seconds, const double  second_delta_time_seconds  )

inlinestatic

Definition at line 30 of file acceleration_cost_function_3d.h.

operator()()

template<typename T >

bool cartographer::mapping::AccelerationCostFunction3D::operator() ( const T *const  middle_rotation, const T *const  start_position, const T *const  middle_position, const T *const  end_position, const T *const  gravity_constant, const T *const  imu_calibration, T *  residual  ) const

inline

Definition at line 46 of file acceleration_cost_function_3d.h.

operator=()

AccelerationCostFunction3D& cartographer::mapping::AccelerationCostFunction3D::operator= ( const AccelerationCostFunction3D &  )

privatedelete

ToEigen()

template<typename T >

static Eigen::Quaternion<T> cartographer::mapping::AccelerationCostFunction3D::ToEigen ( const T *const  quaternion )

inlinestaticprivate

Definition at line 90 of file acceleration_cost_function_3d.h.

Member Data Documentation

delta_velocity_imu_frame_

const Eigen::Vector3d cartographer::mapping::AccelerationCostFunction3D::delta_velocity_imu_frame_

private

Definition at line 96 of file acceleration_cost_function_3d.h.

first_delta_time_seconds_

const double cartographer::mapping::AccelerationCostFunction3D::first_delta_time_seconds_

private

Definition at line 97 of file acceleration_cost_function_3d.h.

scaling_factor_

const double cartographer::mapping::AccelerationCostFunction3D::scaling_factor_

private

Definition at line 95 of file acceleration_cost_function_3d.h.

second_delta_time_seconds_

const double cartographer::mapping::AccelerationCostFunction3D::second_delta_time_seconds_

private

Definition at line 98 of file acceleration_cost_function_3d.h.

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The documentation for this class was generated from the following file:

• acceleration_cost_function_3d.h