Class InertialErrorTermEigen

Inheritance Relationships

Base Type

  • public ceres::SizedCostFunction< imu_integrator::kErrorStateSize, imu_integrator::kStateOrientationBlockSize, imu_integrator::kPositionBlockSize, imu_integrator::kVelocityBlockSize, imu_integrator::kImuBiasBlockSize, imu_integrator::kStateOrientationBlockSize, imu_integrator::kPositionBlockSize, imu_integrator::kVelocityBlockSize, imu_integrator::kImuBiasBlockSize >

Class Documentation

class ceres_error_terms::InertialErrorTermEigen : public ceres::SizedCostFunction<imu_integrator::kErrorStateSize, imu_integrator::kStateOrientationBlockSize, imu_integrator::kPositionBlockSize, imu_integrator::kVelocityBlockSize, imu_integrator::kImuBiasBlockSize, imu_integrator::kStateOrientationBlockSize, imu_integrator::kPositionBlockSize, imu_integrator::kVelocityBlockSize, imu_integrator::kImuBiasBlockSize>

Public Functions

inline InertialErrorTermEigen(const Eigen::Matrix<double, 6, Eigen::Dynamic> &imu_data, const Eigen::Matrix<int64_t, 1, Eigen::Dynamic> &imu_timestamps_ns, double gyro_noise_sigma, double gyro_bias_sigma, double acc_noise_sigma, double acc_bias_sigma, double gravity_magnitude)
inline virtual ~InertialErrorTermEigen()
virtual bool Evaluate(double const *const *parameters, double *residuals_ptr, double **jacobians) const
inline void setCachedImuCovariancePointer(Eigen::Matrix<double, 6, 6> *imu_covariance_cached)