Template Class CeresManifoldFunctor¶

Defined in File manifold.h

Class Documentation¶

template<typename _LieGroup> class CeresManifoldFunctor¶

A wrapper for Ceres autodiff local parameterization.

Public Functions

CeresManifoldFunctor() = default¶

virtual ~CeresManifoldFunctor() = default¶

template<typename T> inline bool Plus(const T *state_raw, const T *delta_raw, T *state_plus_delta_raw) const¶

template<typename T> inline bool Minus(const T *y_raw, const T *x_raw, T *y_minus_x_raw) const¶