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mrpt::graphslam::detail::AuxErrorEval< CPose2D, gst > Struct Template Reference

Detailed Description

template<class gst>
struct mrpt::graphslam::detail::AuxErrorEval< CPose2D, gst >

Definition at line 33 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 &P1DP2inv, 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< CPose2D, gst >::computePseudoLnError ( const POSE &  P1DP2inv,
VEC &  err,
const EDGE_ITERATOR &  edge 
)
inlinestatic

Definition at line 36 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< CPose2D, gst >::multiply_Jt_W_err ( const JAC &  J,
const EDGE_ITERATOR &  edge,
const VEC1 &  ERR,
VEC2 &  OUT 
)
inlinestatic

Definition at line 60 of file levmarq_impl.h.

References MRPT_UNUSED_PARAM.

◆ multiplyJ1tLambdaJ2()

template<class gst >
template<class MAT , class EDGE_ITERATOR >
static void mrpt::graphslam::detail::AuxErrorEval< CPose2D, gst >::multiplyJ1tLambdaJ2 ( const MAT &  J1,
const MAT &  J2,
MAT &  JtJ,
const EDGE_ITERATOR &  edge 
)
inlinestatic

Definition at line 52 of file levmarq_impl.h.

References MRPT_UNUSED_PARAM.

◆ multiplyJtLambdaJ()

template<class gst >
template<class MAT , class EDGE_ITERATOR >
static void mrpt::graphslam::detail::AuxErrorEval< CPose2D, gst >::multiplyJtLambdaJ ( const MAT &  J1,
MAT &  JtJ,
const EDGE_ITERATOR &  edge 
)
inlinestatic

Definition at line 44 of file levmarq_impl.h.

References MRPT_UNUSED_PARAM.




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