Null factor that gives no constraints.
More...
#include <general_factor.hpp>
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| | NullFactor ()=default |
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| template<typename TargetPointCloud , typename SourcePointCloud , typename TargetTree > |
| void | update_linearized_system (const TargetPointCloud &target, const SourcePointCloud &source, const TargetTree &target_tree, const Eigen::Isometry3d &T, Eigen::Matrix< double, 6, 6 > *H, Eigen::Matrix< double, 6, 1 > *b, double *e) const |
| | Update linearized system consisting of linearized per-point factors. More...
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| |
| template<typename TargetPointCloud , typename SourcePointCloud > |
| void | update_error (const TargetPointCloud &target, const SourcePointCloud &source, const Eigen::Isometry3d &T, double *e) const |
| | Update error consisting of per-point factors. More...
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Null factor that gives no constraints.
◆ NullFactor()
| small_gicp::NullFactor::NullFactor |
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| ) |
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default |
◆ update_error()
template<typename TargetPointCloud , typename SourcePointCloud >
| void small_gicp::NullFactor::update_error |
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const TargetPointCloud & |
target, |
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const SourcePointCloud & |
source, |
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const Eigen::Isometry3d & |
T, |
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double * |
e |
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) |
| const |
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inline |
Update error consisting of per-point factors.
- Parameters
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| target | Target point cloud |
| source | Source point cloud |
| T | Evaluation point |
| e | [in/out] Error at the evaluation point. |
◆ update_linearized_system()
template<typename TargetPointCloud , typename SourcePointCloud , typename TargetTree >
| void small_gicp::NullFactor::update_linearized_system |
( |
const TargetPointCloud & |
target, |
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const SourcePointCloud & |
source, |
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const TargetTree & |
target_tree, |
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const Eigen::Isometry3d & |
T, |
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Eigen::Matrix< double, 6, 6 > * |
H, |
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Eigen::Matrix< double, 6, 1 > * |
b, |
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double * |
e |
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) |
| const |
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inline |
Update linearized system consisting of linearized per-point factors.
- Parameters
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| target | Target point cloud |
| source | Source point cloud |
| target_tree | Nearest neighbor search for the target point cloud |
| T | Linearization point |
| H | [in/out] Linearized information matrix. |
| b | [in/out] Linearized information vector. |
| e | [in/out] Error at the linearization point. |
The documentation for this struct was generated from the following file:
