template struct mrpt::graphslam::detail::AuxErrorEvalInfo

Overview

#include <mrpt/graphslam/levmarq_impl.h>

template <class gst>
struct AuxErrorEvalInfo
{
    // methods

    template <class OBS>
    static void computeInformation(OBS& obs);

    template <class MAT, class OBS>
    static void multiplyJtLambdaJ(
        const MAT& J1,
        MAT& JtJ,
        const OBS& obs
        );

    template <class MAT, class OBS>
    static void multiplyJ1tLambdaJ2(
        const MAT& J1,
        const MAT& J2,
        MAT& JtJ,
        const OBS& obs
        );

    template <class JAC, class OBS, class VEC1, class VEC2>
    static void multiply_Jt_W_err(
        const JAC& J,
        const OBS& obs,
        const VEC1& ERR,
        VEC2& OUT
        );

    template <class VEC, class OBS>
    static double squaredError(
        const VEC& ERR,
        const OBS& obs
        );
};

// direct descendants

template <class gst>
struct AuxErrorEval<CPose3DPDFGaussianInf, gst>;

template <class gst>
struct AuxErrorEval<CPosePDFGaussianInf, gst>;