Class Unit3Parameterization

• Defined in File unit3-param.h

Inheritance Relationships

Base Type

• public LocalParameterization

Class Documentation

class ceres_error_terms::Unit3Parameterization : public LocalParameterization

Public Types

typedef Eigen::Matrix<double, Unit3::kGlobalSize, Unit3::kLocalSize, Eigen::RowMajor> Jacobian

typedef Eigen::Matrix<double, Unit3::kLocalSize, Unit3::kGlobalSize, Eigen::RowMajor> LiftJacobian

Public Functions

inline virtual ~Unit3Parameterization()

virtual bool Plus(const double *x, const double *delta, double *x_plus_delta) const

virtual bool ComputeJacobian(const double *x, double *jacobian) const

inline virtual int GlobalSize() const

inline virtual int LocalSize() const

bool Minus(const double *x, const double *y, double *x_minus_y) const

bool ComputeLiftJacobian(const double *x, double *jacobian) const