Class LoopClosureConstraint

Class Documentation

class ceres_error_terms::LoopClosureConstraint

Public Functions

inline LoopClosureConstraint()
inline LoopClosureConstraint(const int &from, const int &to, const pose::Transformation &T_A_B, const Eigen::Matrix<double, 6, 6> &T_A_B_covariance, const double &switch_variable_covariance, const double &initial_switch_variable)

Public Members

int from_node_
int to_node_
double switch_variable_
double switch_variable_covariance_
pose::Transformation T_A_B_
Eigen::Matrix<double, 6, 6> T_A_B_covariance_