Struct FourDOFError

• Defined in File pose_graph.h

Struct Documentation

struct FourDOFError

Public Functions

inline FourDOFError(double t_x, double t_y, double t_z, double relative_yaw, double pitch_i, double roll_i)

template<typename T>
inline bool operator()(const T *const yaw_i, const T *ti, const T *yaw_j, const T *tj, T *residuals) const

Public Members

double t_x

double t_y

double t_z

double relative_yaw

double pitch_i

double roll_i

Public Static Functions

static inline ceres::CostFunction *Create(const double t_x, const double t_y, const double t_z, const double relative_yaw, const double pitch_i, const double roll_i)