File prior_factor_pose3.h#

namespace sym


template<typename Scalar>
void PriorFactorPose3(const sym::Pose3<Scalar> &value, const sym::Pose3<Scalar> &prior, const Eigen::Matrix<Scalar, 6, 6> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 6, 1> *const res = nullptr, Eigen::Matrix<Scalar, 6, 6> *const jacobian = nullptr, Eigen::Matrix<Scalar, 6, 6> *const hessian = nullptr, Eigen::Matrix<Scalar, 6, 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: (6x6) jacobian of res wrt arg value (6) hessian: (6x6) Gauss-Newton hessian for arg value (6) rhs: (6x1) Gauss-Newton rhs for arg value (6)