Class PositionErrorTerm

Inheritance Relationships

Base Type

  • public ceres::SizedCostFunction< positionblocks::kResidualSize, poseblocks::kPoseSize >

Class Documentation

class ceres_error_terms::PositionErrorTerm : public ceres::SizedCostFunction<positionblocks::kResidualSize, poseblocks::kPoseSize>

Public Functions

inline PositionErrorTerm(const Eigen::Vector3d &position_prior, const Eigen::Matrix<double, 3, 3> &covariance)
inline virtual ~PositionErrorTerm()
virtual bool Evaluate(double const *const *parameters, double *residuals, double **jacobians) const