struct mrpt::maps::CRandomFieldGridMap2D::TPriorFactorGMRF¶

#include <mrpt/maps/CRandomFieldGridMap2D.h>

struct TPriorFactorGMRF: public mrpt::graphs::ScalarFactorGraph::BinaryFactorVirtualBase
{
    //
fields

    double Lambda;

    // construction

    TPriorFactorGMRF(CRandomFieldGridMap2D& parent);

    //
methods

    virtual double evaluateResidual() const;
    virtual double getInformation() const;
    virtual void evalJacobian(double& dr_dxi, double& dr_dxj) const;
};

Inherited Members¶

public:
    //
methods

    virtual void evalJacobian(double& dr_dxi, double& dr_dxj) const = 0;
    virtual double evaluateResidual() const = 0;
    virtual double getInformation() const = 0;

Fields¶

double Lambda

“Information” of the observation (=inverse of the variance)

Methods¶

virtual double evaluateResidual() const

Return the residual/error of this observation.

virtual double getInformation() const

Return the inverse of the variance of this constraint.

virtual void evalJacobian(double& dr_dxi, double& dr_dxj) const

Returns the derivative of the residual wrt the node values.