File prior_factor_unit3.h

namespace sym

Functions

template<typename Scalar>
void PriorFactorUnit3(const sym::Unit3<Scalar> &value, const sym::Unit3<Scalar> &prior, const Eigen::Matrix<Scalar, 2, 2> &sqrt_info, const Scalar epsilon, Eigen::Matrix<Scalar, 2, 1> *const res = nullptr, Eigen::Matrix<Scalar, 2, 2> *const jacobian = nullptr, Eigen::Matrix<Scalar, 2, 2> *const hessian = nullptr, Eigen::Matrix<Scalar, 2, 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: (2x2) jacobian of res wrt arg value (2) hessian: (2x2) Gauss-Newton hessian for arg value (2) rhs: (2x1) Gauss-Newton rhs for arg value (2)