Class MarginalizationInfo

• Defined in File marginalization_factor.h

Class Documentation

class MarginalizationInfo

Contains all the @ResidualBlockInfo to be marginalized.

Public Functions

inline MarginalizationInfo()

~MarginalizationInfo()

int localSize(int size) const

int globalSize(int size) const

void addResidualBlockInfo(ResidualBlockInfo *residual_block_info)

void preMarginalize()

void marginalize()

std::vector<double*> getParameterBlocks(std::unordered_map<long, double*> &addr_shift)

Public Members

std::vector<ResidualBlockInfo*> factors

int m

int n

std::unordered_map<long, int> parameter_block_size

int sum_block_size

std::unordered_map<long, int> parameter_block_idx

std::unordered_map<long, double*> parameter_block_data

std::vector<int> keep_block_size

std::vector<int> keep_block_idx

std::vector<double*> keep_block_data

Eigen::MatrixXd linearized_jacobians

Eigen::VectorXd linearized_residuals

const double eps = 1e-8

bool valid