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<li class="navelem"><a class="el" href="namespacesmall__gicp.html">small_gicp</a></li><li class="navelem"><a class="el" href="structsmall__gicp_1_1NullFactor.html">NullFactor</a></li> </ul>
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<p>Null factor that gives no constraints.
<a href="structsmall__gicp_1_1NullFactor.html#details">More...</a></p>
<p><code>#include &lt;<a class="el" href="general__factor_8hpp_source.html">general_factor.hpp</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a6742c27af29602f47cccbf1f1e6008d1"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1NullFactor.html#a6742c27af29602f47cccbf1f1e6008d1">NullFactor</a> ()=default</td></tr>
<tr class="separator:a6742c27af29602f47cccbf1f1e6008d1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aba0c65232d230e75b9e1fe2a583edbff"><td class="memTemplParams" colspan="2">template&lt;typename TargetPointCloud , typename SourcePointCloud , typename TargetTree &gt; </td></tr>
<tr class="memitem:aba0c65232d230e75b9e1fe2a583edbff"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1NullFactor.html#aba0c65232d230e75b9e1fe2a583edbff">update_linearized_system</a> (const TargetPointCloud &amp;target, const SourcePointCloud &amp;source, const TargetTree &amp;target_tree, const Eigen::Isometry3d &amp;T, Eigen::Matrix&lt; double, 6, 6 &gt; *H, Eigen::Matrix&lt; double, 6, 1 &gt; *b, double *e) const</td></tr>
<tr class="memdesc:aba0c65232d230e75b9e1fe2a583edbff"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update linearized system consisting of linearized per-point factors. <a href="structsmall__gicp_1_1NullFactor.html#aba0c65232d230e75b9e1fe2a583edbff">More...</a><br /></td></tr>
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<tr class="memitem:a5f4db46bbbb7a3772d043f47d516c527"><td class="memTemplParams" colspan="2">template&lt;typename TargetPointCloud , typename SourcePointCloud &gt; </td></tr>
<tr class="memitem:a5f4db46bbbb7a3772d043f47d516c527"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1NullFactor.html#a5f4db46bbbb7a3772d043f47d516c527">update_error</a> (const TargetPointCloud &amp;target, const SourcePointCloud &amp;source, const Eigen::Isometry3d &amp;T, double *e) const</td></tr>
<tr class="memdesc:a5f4db46bbbb7a3772d043f47d516c527"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update error consisting of per-point factors. <a href="structsmall__gicp_1_1NullFactor.html#a5f4db46bbbb7a3772d043f47d516c527">More...</a><br /></td></tr>
<tr class="separator:a5f4db46bbbb7a3772d043f47d516c527"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Null factor that gives no constraints. </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="a6742c27af29602f47cccbf1f1e6008d1"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6742c27af29602f47cccbf1f1e6008d1">&#9670;&nbsp;</a></span>NullFactor()</h2>
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<td class="memname">small_gicp::NullFactor::NullFactor </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
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<span class="mlabels"><span class="mlabel">default</span></span> </td>
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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a5f4db46bbbb7a3772d043f47d516c527">&#9670;&nbsp;</a></span>update_error()</h2>
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template&lt;typename TargetPointCloud , typename SourcePointCloud &gt; </div>
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<td class="memname">void small_gicp::NullFactor::update_error </td>
<td>(</td>
<td class="paramtype">const TargetPointCloud &amp;&#160;</td>
<td class="paramname"><em>target</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const SourcePointCloud &amp;&#160;</td>
<td class="paramname"><em>source</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const Eigen::Isometry3d &amp;&#160;</td>
<td class="paramname"><em>T</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">double *&#160;</td>
<td class="paramname"><em>e</em>&#160;</td>
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<td>)</td>
<td></td><td> const</td>
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<p>Update error consisting of per-point factors. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">target</td><td>Target point cloud </td></tr>
<tr><td class="paramname">source</td><td>Source point cloud </td></tr>
<tr><td class="paramname">T</td><td>Evaluation point </td></tr>
<tr><td class="paramname">e</td><td>[in/out] Error at the evaluation point. </td></tr>
</table>
</dd>
</dl>
</div>
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<a id="aba0c65232d230e75b9e1fe2a583edbff"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aba0c65232d230e75b9e1fe2a583edbff">&#9670;&nbsp;</a></span>update_linearized_system()</h2>
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<div class="memtemplate">
template&lt;typename TargetPointCloud , typename SourcePointCloud , typename TargetTree &gt; </div>
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<td class="memname">void small_gicp::NullFactor::update_linearized_system </td>
<td>(</td>
<td class="paramtype">const TargetPointCloud &amp;&#160;</td>
<td class="paramname"><em>target</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const SourcePointCloud &amp;&#160;</td>
<td class="paramname"><em>source</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const TargetTree &amp;&#160;</td>
<td class="paramname"><em>target_tree</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const Eigen::Isometry3d &amp;&#160;</td>
<td class="paramname"><em>T</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">Eigen::Matrix&lt; double, 6, 6 &gt; *&#160;</td>
<td class="paramname"><em>H</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">Eigen::Matrix&lt; double, 6, 1 &gt; *&#160;</td>
<td class="paramname"><em>b</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double *&#160;</td>
<td class="paramname"><em>e</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const</td>
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<span class="mlabels"><span class="mlabel">inline</span></span> </td>
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<p>Update linearized system consisting of linearized per-point factors. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">target</td><td>Target point cloud </td></tr>
<tr><td class="paramname">source</td><td>Source point cloud </td></tr>
<tr><td class="paramname">target_tree</td><td>Nearest neighbor search for the target point cloud </td></tr>
<tr><td class="paramname">T</td><td>Linearization point </td></tr>
<tr><td class="paramname">H</td><td>[in/out] Linearized information matrix. </td></tr>
<tr><td class="paramname">b</td><td>[in/out] Linearized information vector. </td></tr>
<tr><td class="paramname">e</td><td>[in/out] Error at the linearization point. </td></tr>
</table>
</dd>
</dl>
</div>
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<hr/>The documentation for this struct was generated from the following file:<ul>
<li>/home/runner/work/small_gicp/small_gicp/include/small_gicp/factors/<a class="el" href="general__factor_8hpp_source.html">general_factor.hpp</a></li>
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