mrpt::graphslam::detail::AuxErrorEval< CPose3DPDFGaussianInf, gst > Struct Template Reference

Detailed Description

template<class gst>
struct mrpt::graphslam::detail::AuxErrorEval< CPose3DPDFGaussianInf, gst >

Definition at line 186 of file levmarq_impl.h.

#include <mrpt/graphslam/levmarq_impl.h>

Static Public Member Functions
template<class POSE , class VEC , class EDGE_ITERATOR >
static void	computePseudoLnError (const POSE &DinvP1invP2, VEC &err, const EDGE_ITERATOR &edge)
template<class MAT , class EDGE_ITERATOR >
static void	multiplyJtLambdaJ (const MAT &J1, MAT &JtJ, const EDGE_ITERATOR &edge)
template<class MAT , class EDGE_ITERATOR >
static void	multiplyJ1tLambdaJ2 (const MAT &J1, const MAT &J2, MAT &JtJ, const EDGE_ITERATOR &edge)
template<class JAC , class EDGE_ITERATOR , class VEC1 , class VEC2 >
static void	multiply_Jt_W_err (const JAC &J, const EDGE_ITERATOR &edge, const VEC1 &ERR, VEC2 &OUT)

Member Function Documentation

computePseudoLnError()

template<class gst >

template<class POSE , class VEC , class EDGE_ITERATOR >

static void mrpt::graphslam::detail::AuxErrorEval< CPose3DPDFGaussianInf, gst >::computePseudoLnError ( const POSE &  DinvP1invP2, VEC &  err, const EDGE_ITERATOR &  edge  )

inlinestatic

Definition at line 188 of file levmarq_impl.h.

References MRPT_UNUSED_PARAM.

multiply_Jt_W_err()

template<class gst >

template<class JAC , class EDGE_ITERATOR , class VEC1 , class VEC2 >

static void mrpt::graphslam::detail::AuxErrorEval< CPose3DPDFGaussianInf, gst >::multiply_Jt_W_err ( const JAC &  J, const EDGE_ITERATOR &  edge, const VEC1 &  ERR, VEC2 &  OUT  )

inlinestatic

Definition at line 200 of file levmarq_impl.h.

References mrpt::math::UNINITIALIZED_MATRIX.

multiplyJ1tLambdaJ2()

template<class gst >

template<class MAT , class EDGE_ITERATOR >

static void mrpt::graphslam::detail::AuxErrorEval< CPose3DPDFGaussianInf, gst >::multiplyJ1tLambdaJ2 ( const MAT &  J1, const MAT &  J2, MAT &  JtJ, const EDGE_ITERATOR &  edge  )

inlinestatic

Definition at line 197 of file levmarq_impl.h.

multiplyJtLambdaJ()

template<class gst >

template<class MAT , class EDGE_ITERATOR >

static void mrpt::graphslam::detail::AuxErrorEval< CPose3DPDFGaussianInf, gst >::multiplyJtLambdaJ ( const MAT &  J1, MAT &  JtJ, const EDGE_ITERATOR &  edge  )

inlinestatic

Definition at line 194 of file levmarq_impl.h.