Template Class CeresObjectiveFunctor¶

Defined in File objective.h

Class Documentation¶

template<typename _LieGroup> class CeresObjectiveFunctor¶

Public Functions

inline MANIF_MAKE_ALIGNED_OPERATOR_NEW_COND_TYPE (LieGroup) template< typename... Args > CeresObjectiveFunctor(Args &&... args)

inline CeresObjectiveFunctor(const LieGroup &target_state, const double weight = 1)¶

virtual ~CeresObjectiveFunctor() = default¶

template<typename T> inline bool operator()(const T *const state_raw, T *residuals_raw) const¶

LieGroup getTargetState() const¶

void setTargetState(const LieGroup &target_state) const¶

inline void weight(const double weight)¶

inline double weight() const noexcept¶

Protected Attributes

double weight_ = 1¶

LieGroup target_state_¶