Class InitialBiasFactor

Defined in File initial_bias_factor.h

Inheritance Relationships

Base Type

public ceres::SizedCostFunction< 6, 9 >

Class Documentation

class InitialBiasFactor : public ceres::SizedCostFunction<6, 9>

Public Functions

inline InitialBiasFactor(const Eigen::Vector3d &_Ba, const Eigen::Vector3d &_Bg)

inline virtual bool Evaluate(double const *const *parameters, double *residuals, double **jacobians) const

Public Members

Eigen::Vector3d init_Ba

Eigen::Vector3d init_Bg

Eigen::Matrix<double, 6, 6> sqrt_info