File between_factor_pose3_position.h#

namespace sym


template<typename Scalar>
void BetweenFactorPose3Position(const sym::Pose3<Scalar> &a, const sym::Pose3<Scalar> &b, const Eigen::Matrix<Scalar, 3, 1> &a_t_b, const Eigen::Matrix<Scalar, 3, 3> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 3, 1> *const res = nullptr, Eigen::Matrix<Scalar, 3, 12> *const jacobian = nullptr, Eigen::Matrix<Scalar, 12, 12> *const hessian = nullptr, Eigen::Matrix<Scalar, 12, 1> *const rhs = nullptr)#

Residual that penalizes the difference between between(a, b) and a_t_b.

In vector space terms that would be: (b - a) - a_t_b

In lie group terms: local_coordinates(a_t_b, between(a, b)) to_tangent(compose(inverse(a_t_b), compose(inverse(a), b)))

Args: sqrt_info: Square root information matrix to whiten residual. This can be computed from a covariance matrix as the cholesky decomposition of the inverse. In the case of a diagonal it will contain 1/sigma values. Must match the tangent dim. jacobian: (3x12) jacobian of res wrt args a (6), b (6) hessian: (12x12) Gauss-Newton hessian for args a (6), b (6) rhs: (12x1) Gauss-Newton rhs for args a (6), b (6)