mrpt::srba::compute_jacobian_dAepsDx_deps_SE2< POINT_DIMS, RBA_ENGINE_T > Struct Template Reference

Detailed Description

template<size_t POINT_DIMS, class 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.

Definition at line 516 of file srba/include/mrpt/srba/impl/jacobians.h.

#include <mrpt/srba/impl/jacobians.h>

Inheritance diagram for mrpt::srba::compute_jacobian_dAepsDx_deps_SE2< POINT_DIMS, RBA_ENGINE_T >:

Static Public Member Functions
template<class MATRIX , class MATRIX_DH_DX , class POINT , class pose_flag_t , class JACOB_SYM_T , class K2K_EDGES_T , class OBS_VECTOR >
static void	eval (MATRIX &jacob, const MATRIX_DH_DX &dh_dx, const bool is_inverse_edge_jacobian, const POINT &xji_i, const pose_flag_t *pose_d1_wrt_obs, const pose_flag_t &pose_base_wrt_d1, const JACOB_SYM_T &jacob_sym, const K2K_EDGES_T &k2k_edges, const OBS_VECTOR &all_obs)

Member Function Documentation

template<size_t POINT_DIMS, class RBA_ENGINE_T>

template<class MATRIX , class MATRIX_DH_DX , class POINT , class pose_flag_t , class JACOB_SYM_T , class K2K_EDGES_T , class OBS_VECTOR >

static void mrpt::srba::compute_jacobian_dAepsDx_deps_SE2< POINT_DIMS, RBA_ENGINE_T >::eval ( MATRIX &  jacob, const MATRIX_DH_DX &  dh_dx, const bool  is_inverse_edge_jacobian, const POINT &  xji_i, const pose_flag_t *  pose_d1_wrt_obs, const pose_flag_t &  pose_base_wrt_d1, const JACOB_SYM_T &  jacob_sym, const K2K_EDGES_T &  k2k_edges, const OBS_VECTOR &  all_obs  )

inlinestatic

Definition at line 519 of file srba/include/mrpt/srba/impl/jacobians.h.