Class BlockPosePriorErrorTermV2

Class Documentation

class ceres_error_terms::BlockPosePriorErrorTermV2

Public Functions

BlockPosePriorErrorTermV2(const aslam::Transformation &T_G_S_measured, const Eigen::Matrix<double, 6, 6> &covariance)
inline ~BlockPosePriorErrorTermV2()
template<typename T>
bool operator()(const T *const q_G_M_jpl_p_G_M, const T *const q_B_M_jpl_p_M_B, const T *const q_S_B_jpl_p_S_B, T *residuals) const

Public Static Attributes

static constexpr int kResidualBlockSize = 6
static constexpr int kOrientationBlockSize = 4