#include <mrpt/math/jacobians.h>
#include <mrpt/poses/SE_traits.h>
#include <mrpt/srba/landmark_jacob_families.h>

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Classes
struct	mrpt::srba::internal::recompute_all_Jacobians_dh_df< LM_JACOB_FAMILY >
	Auxiliary template for evaluating the dh_df part in recompute_all_Jacobians(). More...

struct	mrpt::srba::internal::recompute_all_Jacobians_dh_df< jacob_point_landmark >

struct	mrpt::srba::internal::recompute_all_Jacobians_dh_df< jacob_relpose_landmark >

struct	mrpt::srba::compute_jacobian_dAepsDx_deps< JACOB_FAMILY, POINT_DIMS, POSE_DIMS, RBA_ENGINE_T >
	Auxiliary sub-jacobian used in compute_jacobian_dh_dp() (it's a static method within specializations of this struct) More...

struct	mrpt::srba::compute_jacobian_dAepsDx_deps< jacob_point_landmark, 3, 6, RBA_ENGINE_T >

struct	mrpt::srba::compute_jacobian_dAepsDx_deps_SE2< POINT_DIMS, RBA_ENGINE_T >
	Case: 2D or 3D points, SE(2) poses Both cases are grouped because a SE(2) pose doesn't transform the "z" of 3D points, so both sets of Jacobians are almost identical. More...

struct	mrpt::srba::compute_jacobian_dAepsDx_deps< jacob_point_landmark, 2, 3, RBA_ENGINE_T >

struct	mrpt::srba::compute_jacobian_dAepsDx_deps< jacob_point_landmark, 3, 3, RBA_ENGINE_T >

struct	mrpt::srba::compute_jacobian_dAepsDx_deps< jacob_relpose_landmark, 3, 3, RBA_ENGINE_T >

struct	mrpt::srba::compute_jacobian_dAepsDx_deps< jacob_relpose_landmark, 6, 6, RBA_ENGINE_T >

Namespaces
	mrpt
	This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.

	mrpt::srba
	An heavily template-based implementation of Relative Bundle Adjustment (RBA) - See [mrpt-srba].

	mrpt::srba::internal

Macros
#define	SRBA_USE_NUMERIC_JACOBIANS 0

#define	SRBA_VERIFY_AGAINST_NUMERIC_JACOBIANS 0

#define	SRBA_COMPUTE_NUMERIC_JACOBIANS (SRBA_VERIFY_AGAINST_NUMERIC_JACOBIANS \|\| SRBA_USE_NUMERIC_JACOBIANS)

#define	SRBA_COMPUTE_ANALYTIC_JACOBIANS (SRBA_VERIFY_AGAINST_NUMERIC_JACOBIANS \|\| !SRBA_USE_NUMERIC_JACOBIANS)

#define	DEBUG_JACOBIANS_SUPER_VERBOSE 0

#define	DEBUG_NOT_UPDATED_ENTRIES 0

Macro Definition Documentation

#define DEBUG_JACOBIANS_SUPER_VERBOSE 0

#define DEBUG_NOT_UPDATED_ENTRIES 0

#define SRBA_USE_NUMERIC_JACOBIANS 0

#define SRBA_VERIFY_AGAINST_NUMERIC_JACOBIANS 0

Classes