Struct RelativeRTError

• Defined in File pose_graph.h

Struct Documentation

struct RelativeRTError

Public Functions

inline RelativeRTError(double t_x, double t_y, double t_z, double q_w, double q_x, double q_y, double q_z, double t_var, double q_var)

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

Public Members

double t_x

double t_y

double t_z

double q_w

double q_x

double q_y

double q_z

double t_var

double q_var

Public Static Functions

static inline ceres::CostFunction *Create(const double t_x, const double t_y, const double t_z, const double q_w, const double q_x, const double q_y, const double q_z, const double t_var, const double q_var)