small_gicp: small_gicp::LinearizeSum< TargetPointCloud, SourcePointCloud, TargetTree, CorrespondenceRejector, Factor > Struct Template Reference

small_gicp

Summation for linearized systems. More...

#include <reduction_tbb.hpp>

Public Member Functions
	LinearizeSum (const TargetPointCloud &target, const SourcePointCloud &source, const TargetTree &target_tree, const CorrespondenceRejector &rejector, const Eigen::Isometry3d &T, std::vector< Factor > &factors)

	LinearizeSum (LinearizeSum &x, tbb::split)

void	operator() (const tbb::blocked_range< size_t > &r)

void	join (const LinearizeSum &y)

Public Attributes
const TargetPointCloud &	target

const SourcePointCloud &	source

const TargetTree &	target_tree

const CorrespondenceRejector &	rejector

const Eigen::Isometry3d &	T

std::vector< Factor > &	factors

Eigen::Matrix< double, 6, 6 >	H

Eigen::Matrix< double, 6, 1 >	b

double	e

Detailed Description

template<typename TargetPointCloud, typename SourcePointCloud, typename TargetTree, typename CorrespondenceRejector, typename Factor>
struct small_gicp::LinearizeSum< TargetPointCloud, SourcePointCloud, TargetTree, CorrespondenceRejector, Factor >

Summation for linearized systems.

Constructor & Destructor Documentation

◆ LinearizeSum() [1/2]

template<typename TargetPointCloud , typename SourcePointCloud , typename TargetTree , typename CorrespondenceRejector , typename Factor >

small_gicp::LinearizeSum< TargetPointCloud, SourcePointCloud, TargetTree, CorrespondenceRejector, Factor >::LinearizeSum	(	const TargetPointCloud &	target,
		const SourcePointCloud &	source,
		const TargetTree &	target_tree,
		const CorrespondenceRejector &	rejector,
		const Eigen::Isometry3d &	T,
		std::vector< Factor > &	factors
	)

inline

◆ LinearizeSum() [2/2]

template<typename TargetPointCloud , typename SourcePointCloud , typename TargetTree , typename CorrespondenceRejector , typename Factor >

small_gicp::LinearizeSum< TargetPointCloud, SourcePointCloud, TargetTree, CorrespondenceRejector, Factor >::LinearizeSum	(	LinearizeSum< TargetPointCloud, SourcePointCloud, TargetTree, CorrespondenceRejector, Factor > &	x,
		tbb::split
	)

inline

Member Function Documentation

◆ join()

template<typename TargetPointCloud , typename SourcePointCloud , typename TargetTree , typename CorrespondenceRejector , typename Factor >

void small_gicp::LinearizeSum< TargetPointCloud, SourcePointCloud, TargetTree, CorrespondenceRejector, Factor >::join ( const LinearizeSum< TargetPointCloud, SourcePointCloud, TargetTree, CorrespondenceRejector, Factor > & y )

inline

◆ operator()()

template<typename TargetPointCloud , typename SourcePointCloud , typename TargetTree , typename CorrespondenceRejector , typename Factor >

void small_gicp::LinearizeSum< TargetPointCloud, SourcePointCloud, TargetTree, CorrespondenceRejector, Factor >::operator() ( const tbb::blocked_range< size_t > & r )

inline

Member Data Documentation

◆ b

template<typename TargetPointCloud , typename SourcePointCloud , typename TargetTree , typename CorrespondenceRejector , typename Factor >

Eigen::Matrix<double, 6, 1> small_gicp::LinearizeSum< TargetPointCloud, SourcePointCloud, TargetTree, CorrespondenceRejector, Factor >::b

◆ e

template<typename TargetPointCloud , typename SourcePointCloud , typename TargetTree , typename CorrespondenceRejector , typename Factor >

double small_gicp::LinearizeSum< TargetPointCloud, SourcePointCloud, TargetTree, CorrespondenceRejector, Factor >::e

◆ factors

template<typename TargetPointCloud , typename SourcePointCloud , typename TargetTree , typename CorrespondenceRejector , typename Factor >

std::vector<Factor>& small_gicp::LinearizeSum< TargetPointCloud, SourcePointCloud, TargetTree, CorrespondenceRejector, Factor >::factors

◆ H

template<typename TargetPointCloud , typename SourcePointCloud , typename TargetTree , typename CorrespondenceRejector , typename Factor >

Eigen::Matrix<double, 6, 6> small_gicp::LinearizeSum< TargetPointCloud, SourcePointCloud, TargetTree, CorrespondenceRejector, Factor >::H

◆ rejector

template<typename TargetPointCloud , typename SourcePointCloud , typename TargetTree , typename CorrespondenceRejector , typename Factor >

const CorrespondenceRejector& small_gicp::LinearizeSum< TargetPointCloud, SourcePointCloud, TargetTree, CorrespondenceRejector, Factor >::rejector

◆ source

template<typename TargetPointCloud , typename SourcePointCloud , typename TargetTree , typename CorrespondenceRejector , typename Factor >

const SourcePointCloud& small_gicp::LinearizeSum< TargetPointCloud, SourcePointCloud, TargetTree, CorrespondenceRejector, Factor >::source

◆ T

template<typename TargetPointCloud , typename SourcePointCloud , typename TargetTree , typename CorrespondenceRejector , typename Factor >

const Eigen::Isometry3d& small_gicp::LinearizeSum< TargetPointCloud, SourcePointCloud, TargetTree, CorrespondenceRejector, Factor >::T

◆ target

template<typename TargetPointCloud , typename SourcePointCloud , typename TargetTree , typename CorrespondenceRejector , typename Factor >

const TargetPointCloud& small_gicp::LinearizeSum< TargetPointCloud, SourcePointCloud, TargetTree, CorrespondenceRejector, Factor >::target

◆ target_tree

template<typename TargetPointCloud , typename SourcePointCloud , typename TargetTree , typename CorrespondenceRejector , typename Factor >

const TargetTree& small_gicp::LinearizeSum< TargetPointCloud, SourcePointCloud, TargetTree, CorrespondenceRejector, Factor >::target_tree

The documentation for this struct was generated from the following file:

/home/runner/work/small_gicp/small_gicp/include/small_gicp/registration/reduction_tbb.hpp