Class SixDoFBlockPoseErrorTerm

Class Documentation

class ceres_error_terms::SixDoFBlockPoseErrorTerm

Public Functions

inline SixDoFBlockPoseErrorTerm(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_A, const T *const T_G_B, T *residuals) const

Public Static Attributes

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