Drake
ArticulatedIcpErrorSet Class Reference

A set of Cartesian errors and their gradients: {(eᵢ, Jᵢ)}ᵢ₌₁..ₙ More...

#include <perception/estimators/dev/articulated_icp.h>

Public Member Functions

 ArticulatedIcpErrorSet (int num_var)
 
void resize (int num_points)
 Resize (and clear) the stored terms. More...
 
int size () const
 
Eigen::Ref< const Eigen::Vector3d > error (int i) const
 
Eigen::Ref< const Eigen::Matrix3Xd > J_error (int i) const
 
Eigen::Ref< Eigen::Matrix3Xd > errors ()
 
Eigen::Ref< Eigen::MatrixXd > J_errors ()
 
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
 ArticulatedIcpErrorSet (const ArticulatedIcpErrorSet &)=default
 
ArticulatedIcpErrorSetoperator= (const ArticulatedIcpErrorSet &)=default
 
 ArticulatedIcpErrorSet (ArticulatedIcpErrorSet &&)=default
 
ArticulatedIcpErrorSetoperator= (ArticulatedIcpErrorSet &&)=default
 

Detailed Description

A set of Cartesian errors and their gradients: {(eᵢ, Jᵢ)}ᵢ₌₁..ₙ

Constructor & Destructor Documentation

ArticulatedIcpErrorSet ( int  num_var)
inlineexplicit
Parameters
num_varNumber of variables for the gradients.

Member Function Documentation

Eigen::Ref<const Eigen::Vector3d> error ( int  i) const
inline

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Eigen::Ref<Eigen::Matrix3Xd> errors ( )
inline

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Eigen::Ref<const Eigen::Matrix3Xd> J_error ( int  i) const
inline

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Eigen::Ref<Eigen::MatrixXd> J_errors ( )
inline

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ArticulatedIcpErrorSet& operator= ( ArticulatedIcpErrorSet &&  )
default
ArticulatedIcpErrorSet& operator= ( const ArticulatedIcpErrorSet )
default
void resize ( int  num_points)
inline

Resize (and clear) the stored terms.

Parameters
num_pointsNumber of points.

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int size ( ) const
inline

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The documentation for this class was generated from the following file: