mrpt::srba::options::solver_LM_schur_dense_cholesky::extra_results_t Struct Reference

Detailed Description

Extra output information to be found in RbaEngine<>::TOptimizeExtraOutputInfo::extra_results.

Definition at line 29 of file srba_options_solver.h.

#include <mrpt/srba/srba_options_solver.h>

Public Member Functions
	extra_results_t ()
void	clear ()

Public Attributes
bool	hessian_valid
	Will be false if the Hessian wasn't evaluated for some reason. More...
Eigen::MatrixXd	hessian
	The last value of the (dense) Hessian (inverse of covariances) of all kf-to-kf relative pose unknowns (note that this is after Schur reduction) More...

Constructor & Destructor Documentation

mrpt::srba::options::solver_LM_schur_dense_cholesky::extra_results_t::extra_results_t ( )

inline

Definition at line 35 of file srba_options_solver.h.

References clear().

Member Function Documentation

void mrpt::srba::options::solver_LM_schur_dense_cholesky::extra_results_t::clear ( void  )

inline

Definition at line 36 of file srba_options_solver.h.

Referenced by extra_results_t().

Member Data Documentation

Eigen::MatrixXd mrpt::srba::options::solver_LM_schur_dense_cholesky::extra_results_t::hessian

The last value of the (dense) Hessian (inverse of covariances) of all kf-to-kf relative pose unknowns (note that this is after Schur reduction)

Definition at line 33 of file srba_options_solver.h.

bool mrpt::srba::options::solver_LM_schur_dense_cholesky::extra_results_t::hessian_valid

Will be false if the Hessian wasn't evaluated for some reason.

Definition at line 31 of file srba_options_solver.h.