Class LoopClosureConstraint

• Defined in File loop_closure_constraint.h

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_