Class LoopClosureBlockPoseErrorTerm

Class Documentation

class ceres_error_terms::LoopClosureBlockPoseErrorTerm

Public Functions

inline LoopClosureBlockPoseErrorTerm(const pose::Transformation &T_A_B, const Eigen::Matrix<double, 6, 6> &T_A_B_covariance)
template<typename T>
bool operator()(const T *const T_G_MA, const T *const T_MA_IA, const T *const T_G_MB, const T *const T_MB_IB, const T *const switch_variable, T *residuals) const
template<typename T>
bool operator()(const T *const T_M_IA, const T *const T_M_IB, const T *const switch_variable, T *residuals) const

Public Static Attributes

static constexpr int residualBlockSize = 6
static constexpr int switchVariableBlockSize = 1
static constexpr int kOrientationBlockSize = 4