Struct ThreadsStruct

• Defined in File marginalization_factor.h

Struct Documentation

struct ThreadsStruct

Public Members

std::vector<ResidualBlockInfo*> sub_factors

Eigen::MatrixXd A

Eigen::VectorXd b

std::unordered_map<long, int> parameter_block_size

std::unordered_map<long, int> parameter_block_idx