Point Cloud Library (PCL)  1.3.1
Public Types | Public Member Functions | Public Attributes
pcl::registration::TransformationEstimationLM::OptimizationFunctor Struct Reference
Inheritance diagram for pcl::registration::TransformationEstimationLM::OptimizationFunctor:
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List of all members.

Public Types

enum  
typedef _Scalar Scalar
typedef Eigen::Matrix< Scalar,
InputsAtCompileTime, 1 > 
InputType
typedef Eigen::Matrix< Scalar,
ValuesAtCompileTime, 1 > 
ValueType
typedef Eigen::Matrix< Scalar,
ValuesAtCompileTime,
InputsAtCompileTime > 
JacobianType

Public Member Functions

 OptimizationFunctor (int n, int m, TransformationEstimationLM< PointSource, PointTarget > *estimator)
 Functor constructor.
int operator() (const Eigen::VectorXd &x, Eigen::VectorXd &fvec) const
 Fill fvec from x.
int inputs () const
int values () const

Public Attributes

TransformationEstimationLM
< PointSource, PointTarget > * 
estimator_
const int m_inputs
const int m_values

Member Typedef Documentation

typedef Eigen::Matrix<Scalar,InputsAtCompileTime,1> pcl::registration::TransformationEstimationLM::Functor::InputType [inherited]

Definition at line 178 of file transformation_estimation_lm.h.

typedef Eigen::Matrix<Scalar,ValuesAtCompileTime,InputsAtCompileTime> pcl::registration::TransformationEstimationLM::Functor::JacobianType [inherited]

Definition at line 180 of file transformation_estimation_lm.h.

Definition at line 173 of file transformation_estimation_lm.h.

typedef Eigen::Matrix<Scalar,ValuesAtCompileTime,1> pcl::registration::TransformationEstimationLM::Functor::ValueType [inherited]

Definition at line 179 of file transformation_estimation_lm.h.


Member Enumeration Documentation

anonymous enum [inherited]

Definition at line 174 of file transformation_estimation_lm.h.


Constructor & Destructor Documentation

pcl::registration::TransformationEstimationLM::OptimizationFunctor::OptimizationFunctor ( int  n,
int  m,
TransformationEstimationLM< PointSource, PointTarget > *  estimator 
) [inline]

Functor constructor.

Parameters:
nNumber of unknowns to be solved
mNumber of values
estimatorpointer to the estimator object
distancedistance computation function pointer

Definition at line 201 of file transformation_estimation_lm.h.


Member Function Documentation

int pcl::registration::TransformationEstimationLM::Functor::inputs ( ) const [inline, inherited]

Definition at line 187 of file transformation_estimation_lm.h.

int pcl::registration::TransformationEstimationLM::OptimizationFunctor::operator() ( const Eigen::VectorXd &  x,
Eigen::VectorXd &  fvec 
) const

Fill fvec from x.

For the current state vector x fill the f values

Parameters:
xstate vector
fvecf values vector
Returns:
0

Definition at line 214 of file transformation_estimation_lm.hpp.

int pcl::registration::TransformationEstimationLM::Functor::values ( ) const [inline, inherited]

Definition at line 188 of file transformation_estimation_lm.h.


Member Data Documentation

Definition at line 211 of file transformation_estimation_lm.h.

Definition at line 182 of file transformation_estimation_lm.h.

Definition at line 182 of file transformation_estimation_lm.h.


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