Class InitialPoseFactor

Defined in File initial_pose_factor.h

Inheritance Relationships

Base Type

public ceres::SizedCostFunction< 6, 7 >

Class Documentation

class InitialPoseFactor : public ceres::SizedCostFunction<6, 7>

Public Functions

inline InitialPoseFactor(const Eigen::Vector3d &_P, const Eigen::Quaterniond &_Q)

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

inline void check(double **parameters)

Public Members

Eigen::Vector3d init_P

Eigen::Quaterniond init_Q

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