File prior_factor_pose2.h#

namespace sym


template<typename Scalar>
void PriorFactorPose2(const sym::Pose2<Scalar> &value, const sym::Pose2<Scalar> &prior, const Eigen::Matrix<Scalar, 3, 3> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 3, 1> *const res = nullptr, Eigen::Matrix<Scalar, 3, 3> *const jacobian = nullptr, Eigen::Matrix<Scalar, 3, 3> *const hessian = nullptr, Eigen::Matrix<Scalar, 3, 1> *const rhs = nullptr)#

Residual that penalizes the difference between a value and prior (desired / measured value).

In vector space terms that would be: prior - value

In lie group terms: to_tangent(compose(inverse(value), prior))

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: (3x3) jacobian of res wrt arg value (3) hessian: (3x3) Gauss-Newton hessian for arg value (3) rhs: (3x1) Gauss-Newton rhs for arg value (3)