Template Function manif::make_constraint_autodiff¶

Function Documentation¶

template<typename _LieGroup, typename ...Args> std::shared_ptr<ceres::AutoDiffCostFunction<CeresConstraintFunctor<_LieGroup>, _LieGroup::DoF, _LieGroup::RepSize, _LieGroup::RepSize>> manif::make_constraint_autodiff(Args&&... args)¶

Helper function to create a Ceres autodiff constraint wrapper.