Class EigenPosePriorErrorTerm

• Defined in File pose-prior-error-term-eigen.h

Inheritance Relationships

Base Type

• public ceres::SizedCostFunction< poseblocks::kResidualSize, poseblocks::kOrientationBlockSize, poseblocks::kPositionBlockSize >

Class Documentation

class ceres_error_terms::EigenPosePriorErrorTerm : public ceres::SizedCostFunction<poseblocks::kResidualSize, poseblocks::kOrientationBlockSize, poseblocks::kPositionBlockSize>

Public Functions

inline EigenPosePriorErrorTerm(const Eigen::Quaterniond &orientation_prior, const Eigen::Vector3d &position_prior, const Eigen::Matrix<double, 6, 6> &covariance)

inline virtual ~EigenPosePriorErrorTerm()

virtual bool Evaluate(double const *const *parameters, double *residuals, double **jacobians) const