mrpt::graphslam::detail::AuxErrorEval< CPosePDFGaussianInf, gst > Struct Reference

#include <mrpt/graphslam/levmarq_impl.h>

List of all members.

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)

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Member Function Documentation

template<class POSE , class VEC , class EDGE_ITERATOR >

static void mrpt::graphslam::detail::AuxErrorEval< CPosePDFGaussianInf, gst >::computePseudoLnError	(	const POSE &	P1DP2inv,
		VEC &	err,
		const EDGE_ITERATOR &	edge
	)		[inline, static]

Definition at line 88 of file levmarq_impl.h.

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

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

Definition at line 99 of file levmarq_impl.h.

References mrpt::math::UNINITIALIZED_MATRIX.

template<class MAT , class EDGE_ITERATOR >

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

Definition at line 96 of file levmarq_impl.h.

template<class MAT , class EDGE_ITERATOR >

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

Definition at line 94 of file levmarq_impl.h.