Struct OptimizationProblem::ProblemBookkeeping

• Defined in File optimization-problem.h

Nested Relationships

This struct is a nested type of Class OptimizationProblem.

Struct Documentation

struct map_optimization::OptimizationProblem::ProblemBookkeeping

Public Members

std::unique_ptr<std::vector<MissionClusterGaugeFixes>> cluster_gauge_fixes_initial_vertex

std::unordered_set<pose_graph::VertexId> keyframes_in_problem

std::unordered_multimap<vi_map::LandmarkId, ceres::CostFunction*> landmarks_in_problem