Template Class CeresConstraintFunctor

• Defined in File constraint.h

Class Documentation

template<typename _LieGroup>
class CeresConstraintFunctor

Public Types

using InformationMatrix = Covariance

Public Functions

MANIF_MAKE_ALIGNED_OPERATOR_NEW_COND_TYPE (Tangent) using Covariance

template<typename ...Args>
inline CeresConstraintFunctor(Args&&... args)

template<typename ...Args>
inline CeresConstraintFunctor(const Tangent &measurement, const Covariance &measurement_covariance = Covariance::Identity())

virtual ~CeresConstraintFunctor() = default

template<typename T>
inline bool operator()(const T *const past_raw, const T *const futur_raw, T *residuals_raw) const

Tangent getMeasurement() const

void setMeasurement(const Tangent &measurement)

Covariance getMeasurementCovariance() const

void setMeasurementCovariance(const Covariance covariance)

Protected Functions

void computeInformationMatrix()

Protected Attributes

Tangent measurement_

Covariance measurement_covariance_

InformationMatrix measurement_sqrt_info_upper_