Class LoopClosureBlockPoseErrorTerm¶

Defined in File loop-closure-block-pose-error-term.h

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¶