| 40 | namespace libRSF |
| 41 | { |
| 42 | class MarginalPrior: public ceres::CostFunction |
| 43 | { |
| 44 | public: |
| 45 | |
| 46 | MarginalPrior(const std::vector<int> &LocalSize, |
| 47 | const std::vector<int> &GlobalSize, |
| 48 | const std::vector<Vector> &LinearizationPoints, |
| 49 | const std::vector<DataType> & StateTypes, |
| 50 | const Matrix &J, |
| 51 | const Vector &R); |
| 52 | |
| 53 | virtual ~MarginalPrior() = default; |
| 54 | |
| 55 | virtual bool Evaluate(double const* const* parameters, |
| 56 | double* residuals, |
| 57 | double** jacobians) const; |
| 58 | private: |
| 59 | std::vector<int> _LocalSize; |
| 60 | std::vector<int> _GlobalSize; |
| 61 | std::vector<DataType> _StateTypes; |
| 62 | int _GlobalSizeSum; |
| 63 | int _LocalSizeSum; |
| 64 | Vector _LinearizationPoints; |
| 65 | Vector _LinearResidual; |
| 66 | Matrix _LinearJacobian; |
| 67 | }; |
| 68 | } |
| 69 | |
| 70 | #endif // MARGINALPRIOR_H |
nothing calls this directly
no outgoing calls
no test coverage detected