template<typename _LieGroup>

manif::CeresObjectiveFunctor class

Constructors, destructors, conversion operators

template<typename... Args>

CeresObjectiveFunctor(Args && ... args)

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

~CeresObjectiveFunctor() defaulted virtual

Public functions

template<typename T>

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

auto getTargetState() const -> LieGroup

void setTargetState(const LieGroup& target_state) const

void weight(const double weight)

auto weight() const -> double noexcept

Protected variables

double weight_

LieGroup target_state_