Struct INSRError

Defined in File ins_factor.h

Struct Documentation

struct INSRError

Public Functions

inline INSRError(double q_w, double q_x, double q_y, double q_z, double q_var)

template<typename T> inline bool operator()(const T *w_P_j, T *residuals) const

Public Members

double q_w

double q_x

double q_y

double q_z

double q_var

Public Static Functions

static inline ceres::CostFunction *Create(const double q_w, const double q_x, const double q_y, const double q_z, const double q_var)