Class JplRollPitchQuaternionParameterization¶
Defined in File quaternion-param-jpl.h
Class Documentation¶
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class ceres_error_terms::JplRollPitchQuaternionParameterization : public LocalParameterization¶
Public Functions
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JplRollPitchQuaternionParameterization(const Eigen::Matrix<double, 4, 1> &q_G_M_JPL)¶
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inline virtual ~JplRollPitchQuaternionParameterization()¶
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virtual bool Plus(const double *q_I_M, const double *delta, double *q_I_M_plus_delta) const¶
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virtual bool ComputeJacobian(const double *q_I_M, double *jacobian) const¶
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inline virtual int GlobalSize() const¶
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inline virtual int LocalSize() const¶
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JplRollPitchQuaternionParameterization(const Eigen::Matrix<double, 4, 1> &q_G_M_JPL)¶