Struct ResidualBlockInfo

• Defined in File marginalization_factor.h

Struct Documentation

struct ResidualBlockInfo

Define the data and error of one observation to be marginalized out using Shcur Complement algorithm.

Public Functions

inline ResidualBlockInfo(ceres::CostFunction *_cost_function, ceres::LossFunction *_loss_function, std::vector<double*> _parameter_blocks, std::vector<int> _drop_set)

void Evaluate()

inline int localSize(int size)

Public Members

ceres::CostFunction *cost_function

ceres::LossFunction *loss_function

std::vector<double*> parameter_blocks

std::vector<int> drop_set

double **raw_jacobians

std::vector<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>> jacobians

Eigen::VectorXd residuals