Public Types
using	LandmarkObservation = PoseGraphInterface::LandmarkNode::LandmarkObservation

Public Member Functions
template<typename T >
bool	operator() (const T const prev_node_rotation, const T const prev_node_translation, const T const next_node_rotation, const T const next_node_translation, const T const landmark_rotation, const T const landmark_translation, T *const e) const

Static Public Member Functions
static ceres::CostFunction *	CreateAutoDiffCostFunction (const LandmarkObservation &observation, const NodeSpec3D &prev_node, const NodeSpec3D &next_node)

Private Member Functions
	LandmarkCostFunction3D (const LandmarkObservation &observation, const NodeSpec3D &prev_node, const NodeSpec3D &next_node)

Private Attributes
const double	interpolation_parameter_

const transform::Rigid3d	landmark_to_tracking_transform_

const double	rotation_weight_

const double	translation_weight_

Detailed Description

Member Typedef Documentation

cartographer::mapping::optimization::LandmarkCostFunction3D::LandmarkCostFunction3D	(	const LandmarkObservation &	observation,
		const NodeSpec3D &	prev_node,
		const NodeSpec3D &	next_node
	)

inlineprivate

static ceres::CostFunction* cartographer::mapping::optimization::LandmarkCostFunction3D::CreateAutoDiffCostFunction	(	const LandmarkObservation &	observation,
		const NodeSpec3D &	prev_node,
		const NodeSpec3D &	next_node
	)

inlinestatic

template<typename T >

bool cartographer::mapping::optimization::LandmarkCostFunction3D::operator()	(	const T *const	prev_node_rotation,
		const T *const	prev_node_translation,
		const T *const	next_node_rotation,
		const T *const	next_node_translation,
		const T *const	landmark_rotation,
		const T *const	landmark_translation,
		T *const	e
	)		const