template<typename _LieGroup>

manif::CeresConstraintFunctor class

Public types

using Covariance = Eigen::Matrix<double, LieGroup::DoF, LieGroup::DoF>

using InformationMatrix = Covariance

Constructors, destructors, conversion operators

template<typename... Args>

CeresConstraintFunctor(Args && ... args)

template<typename... Args>

CeresConstraintFunctor(const Tangent& measurement, const Covariance& measurement_covariance = Covariance::Identity())

~CeresConstraintFunctor() defaulted virtual

Public functions

template<typename T>

auto operator()(const T*const past_raw, const T*const futur_raw, T* residuals_raw) const -> bool

auto getMeasurement() const -> Tangent

void setMeasurement(const Tangent& measurement)

auto getMeasurementCovariance() const -> Covariance

void setMeasurementCovariance(const Covariance covariance)

Protected functions

void computeInformationMatrix()

Protected variables

Tangent measurement_

Covariance measurement_covariance_

InformationMatrix measurement_sqrt_info_upper_