template<size_t POINT_DIMS, class RBA_ENGINE_T>
struct srba::compute_jacobian_dAepsDx_deps_SE2< POINT_DIMS, RBA_ENGINE_T >
Case: 2D or 3D points, SE(2) poses Both cases are grouped because a SE(2) pose doesn't transform the "z" of 3D points, so both sets of Jacobians are almost identical.
Definition at line 501 of file jacobians.h.
Static Public Member Functions |
template<class MATRIX , class MATRIX_DH_DX , class POINT , class pose_flag_t , class JACOB_SYM_T , class K2K_EDGES_T , class OBS_VECTOR > |
static void | eval (MATRIX &jacob, const MATRIX_DH_DX &dh_dx, const bool is_inverse_edge_jacobian, const POINT &xji_i, const pose_flag_t *pose_d1_wrt_obs, const pose_flag_t &pose_base_wrt_d1, const JACOB_SYM_T &jacob_sym, const K2K_EDGES_T &k2k_edges, const OBS_VECTOR &all_obs) |