NASA Astrobee Robot Software  0.19.1
Flight software for the Astrobee robots operating inside the International Space Station.
Public Member Functions | Static Public Member Functions | List of all members
optimization_common::PointToPlaneError Class Reference

#include <residuals.h>

Public Member Functions

 PointToPlaneError (const Eigen::Vector3d &source_t_point, const Eigen::Vector3d &target_t_point, const Eigen::Vector3d &target_normal)
 
template<typename T >
bool operator() (const T *target_T_source_data, T *point_to_plane_error) const
 

Static Public Member Functions

static void AddCostFunction (const Eigen::Vector3d &source_t_point, const Eigen::Vector3d &target_t_point, const Eigen::Vector3d &target_normal, Eigen::Matrix< double, 6, 1 > &target_T_source, ceres::Problem &problem)
 

Constructor & Destructor Documentation

◆ PointToPlaneError()

optimization_common::PointToPlaneError::PointToPlaneError ( const Eigen::Vector3d &  source_t_point,
const Eigen::Vector3d &  target_t_point,
const Eigen::Vector3d &  target_normal 
)
inline

Member Function Documentation

◆ AddCostFunction()

static void optimization_common::PointToPlaneError::AddCostFunction ( const Eigen::Vector3d &  source_t_point,
const Eigen::Vector3d &  target_t_point,
const Eigen::Vector3d &  target_normal,
Eigen::Matrix< double, 6, 1 > &  target_T_source,
ceres::Problem &  problem 
)
inlinestatic

◆ operator()()

template<typename T >
bool optimization_common::PointToPlaneError::operator() ( const T *  target_T_source_data,
T *  point_to_plane_error 
) const
inline
The documentation for this class was generated from the following file: