Class BlockPosePriorErrorTerm

Inheritance Relationships

Base Type

  • public ceres::SizedCostFunction< poseblocks::kResidualSize, poseblocks::kPoseSize >

Class Documentation

class ceres_error_terms::BlockPosePriorErrorTerm : public ceres::SizedCostFunction<poseblocks::kResidualSize, poseblocks::kPoseSize>

Public Functions

inline BlockPosePriorErrorTerm(const Eigen::Vector4d &orientation_prior, const Eigen::Vector3d &position_prior, const Eigen::Matrix<double, 6, 6> &covariance)
inline virtual ~BlockPosePriorErrorTerm()
virtual bool Evaluate(double const *const *parameters, double *residuals, double **jacobians) const