Struct ResidualBlockInfo
Defined in File marginalization_factor.h
Struct Documentation
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struct ResidualBlockInfo
Define the data and error of one observation to be marginalized out using Shcur Complement algorithm.
Public Functions
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inline ResidualBlockInfo(ceres::CostFunction *_cost_function, ceres::LossFunction *_loss_function, std::vector<double*> _parameter_blocks, std::vector<int> _drop_set)
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void Evaluate()
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inline int localSize(int size)
Public Members
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ceres::CostFunction *cost_function
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ceres::LossFunction *loss_function
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std::vector<double*> parameter_blocks
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std::vector<int> drop_set
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double **raw_jacobians
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std::vector<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>> jacobians
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Eigen::VectorXd residuals
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inline ResidualBlockInfo(ceres::CostFunction *_cost_function, ceres::LossFunction *_loss_function, std::vector<double*> _parameter_blocks, std::vector<int> _drop_set)