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<p>Factor to restrict the degrees of freedom of optimization (e.g., fixing roll, pitch rotation).
<a href="structsmall__gicp_1_1RestrictDoFFactor.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">
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Public Member Functions</h2></td></tr>
<tr class="memitem:a40be8166c4ccc4d03afa7e7a15069fc5"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1RestrictDoFFactor.html#a40be8166c4ccc4d03afa7e7a15069fc5">RestrictDoFFactor</a> ()</td></tr>
<tr class="memdesc:a40be8166c4ccc4d03afa7e7a15069fc5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <a href="structsmall__gicp_1_1RestrictDoFFactor.html#a40be8166c4ccc4d03afa7e7a15069fc5">More...</a><br /></td></tr>
<tr class="separator:a40be8166c4ccc4d03afa7e7a15069fc5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a77d66bdd37aef1b1b6d40715a2ac9a01"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1RestrictDoFFactor.html#a77d66bdd37aef1b1b6d40715a2ac9a01">set_rotation_mask</a> (const Eigen::Array3d &amp;rot_mask)</td></tr>
<tr class="memdesc:a77d66bdd37aef1b1b6d40715a2ac9a01"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set rotation mask. (1.0 = active, 0.0 = inactive) <a href="structsmall__gicp_1_1RestrictDoFFactor.html#a77d66bdd37aef1b1b6d40715a2ac9a01">More...</a><br /></td></tr>
<tr class="separator:a77d66bdd37aef1b1b6d40715a2ac9a01"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af6c8bfcf2c38b9dd3e8835b23e91fdee"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1RestrictDoFFactor.html#af6c8bfcf2c38b9dd3e8835b23e91fdee">set_translation_mask</a> (const Eigen::Array3d &amp;trans_mask)</td></tr>
<tr class="memdesc:af6c8bfcf2c38b9dd3e8835b23e91fdee"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set translation mask. (1.0 = active, 0.0 = inactive) <a href="structsmall__gicp_1_1RestrictDoFFactor.html#af6c8bfcf2c38b9dd3e8835b23e91fdee">More...</a><br /></td></tr>
<tr class="separator:af6c8bfcf2c38b9dd3e8835b23e91fdee"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a977474000ad7bc28eca1102024f48a31"><td class="memTemplParams" colspan="2">template&lt;typename TargetPointCloud , typename SourcePointCloud , typename TargetTree &gt; </td></tr>
<tr class="memitem:a977474000ad7bc28eca1102024f48a31"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1RestrictDoFFactor.html#a977474000ad7bc28eca1102024f48a31">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:a977474000ad7bc28eca1102024f48a31"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update linearized system consisting of linearized per-point factors. <a href="structsmall__gicp_1_1RestrictDoFFactor.html#a977474000ad7bc28eca1102024f48a31">More...</a><br /></td></tr>
<tr class="separator:a977474000ad7bc28eca1102024f48a31"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa61891a0ad977a574f8e9cdb6ca3fa38"><td class="memTemplParams" colspan="2">template&lt;typename TargetPointCloud , typename SourcePointCloud &gt; </td></tr>
<tr class="memitem:aa61891a0ad977a574f8e9cdb6ca3fa38"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1RestrictDoFFactor.html#aa61891a0ad977a574f8e9cdb6ca3fa38">update_error</a> (const TargetPointCloud &amp;target, const SourcePointCloud &amp;source, const Eigen::Isometry3d &amp;T, double *e) const</td></tr>
<tr class="memdesc:aa61891a0ad977a574f8e9cdb6ca3fa38"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update error consisting of per-point factors. <a href="structsmall__gicp_1_1RestrictDoFFactor.html#aa61891a0ad977a574f8e9cdb6ca3fa38">More...</a><br /></td></tr>
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Public Attributes</h2></td></tr>
<tr class="memitem:a6da7f26b78bc86e79648dc5df041cf83"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1RestrictDoFFactor.html#a6da7f26b78bc86e79648dc5df041cf83">lambda</a></td></tr>
<tr class="memdesc:a6da7f26b78bc86e79648dc5df041cf83"><td class="mdescLeft">&#160;</td><td class="mdescRight">Regularization parameter (Increasing this makes the constraint stronger) <a href="structsmall__gicp_1_1RestrictDoFFactor.html#a6da7f26b78bc86e79648dc5df041cf83">More...</a><br /></td></tr>
<tr class="separator:a6da7f26b78bc86e79648dc5df041cf83"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afb80d9e38ca89bd986356c5976d513a3"><td class="memItemLeft" align="right" valign="top">Eigen::Array&lt; double, 6, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1RestrictDoFFactor.html#afb80d9e38ca89bd986356c5976d513a3">mask</a></td></tr>
<tr class="memdesc:afb80d9e38ca89bd986356c5976d513a3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Mask for restricting DoF (rx, ry, rz, tx, ty, tz) <a href="structsmall__gicp_1_1RestrictDoFFactor.html#afb80d9e38ca89bd986356c5976d513a3">More...</a><br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Factor to restrict the degrees of freedom of optimization (e.g., fixing roll, pitch rotation). </p>
<dl class="section note"><dt>Note</dt><dd>This factor only enables <em>soft</em> constraints. The source point cloud can move to the restricted directions slightly). </dd></dl>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="a40be8166c4ccc4d03afa7e7a15069fc5"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a40be8166c4ccc4d03afa7e7a15069fc5">&#9670;&nbsp;</a></span>RestrictDoFFactor()</h2>
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<td class="memname">small_gicp::RestrictDoFFactor::RestrictDoFFactor </td>
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<p>Constructor. </p>
</div>
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<h2 class="groupheader">Member Function Documentation</h2>
<a id="a77d66bdd37aef1b1b6d40715a2ac9a01"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a77d66bdd37aef1b1b6d40715a2ac9a01">&#9670;&nbsp;</a></span>set_rotation_mask()</h2>
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<td class="memname">void small_gicp::RestrictDoFFactor::set_rotation_mask </td>
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<td class="paramtype">const Eigen::Array3d &amp;&#160;</td>
<td class="paramname"><em>rot_mask</em></td><td>)</td>
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<p>Set rotation mask. (1.0 = active, 0.0 = inactive) </p>
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<a id="af6c8bfcf2c38b9dd3e8835b23e91fdee"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af6c8bfcf2c38b9dd3e8835b23e91fdee">&#9670;&nbsp;</a></span>set_translation_mask()</h2>
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<td class="memname">void small_gicp::RestrictDoFFactor::set_translation_mask </td>
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<td class="paramtype">const Eigen::Array3d &amp;&#160;</td>
<td class="paramname"><em>trans_mask</em></td><td>)</td>
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<p>Set translation mask. (1.0 = active, 0.0 = inactive) </p>
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<a id="aa61891a0ad977a574f8e9cdb6ca3fa38"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa61891a0ad977a574f8e9cdb6ca3fa38">&#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::RestrictDoFFactor::update_error </td>
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<td class="paramtype">const TargetPointCloud &amp;&#160;</td>
<td class="paramname"><em>target</em>, </td>
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<td class="paramtype">const SourcePointCloud &amp;&#160;</td>
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<p>Update error consisting of per-point factors. </p>
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<a id="a977474000ad7bc28eca1102024f48a31"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a977474000ad7bc28eca1102024f48a31">&#9670;&nbsp;</a></span>update_linearized_system()</h2>
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template&lt;typename TargetPointCloud , typename SourcePointCloud , typename TargetTree &gt; </div>
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<td class="memname">void small_gicp::RestrictDoFFactor::update_linearized_system </td>
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<td class="paramtype">const TargetPointCloud &amp;&#160;</td>
<td class="paramname"><em>target</em>, </td>
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<td class="paramtype">const SourcePointCloud &amp;&#160;</td>
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<td class="paramtype">const TargetTree &amp;&#160;</td>
<td class="paramname"><em>target_tree</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">const Eigen::Isometry3d &amp;&#160;</td>
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<td class="paramtype">Eigen::Matrix&lt; double, 6, 6 &gt; *&#160;</td>
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<td class="paramtype">Eigen::Matrix&lt; double, 6, 1 &gt; *&#160;</td>
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<td class="paramtype">double *&#160;</td>
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<td>)</td>
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<p>Update linearized system consisting of linearized per-point factors. </p>
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<h2 class="groupheader">Member Data Documentation</h2>
<a id="a6da7f26b78bc86e79648dc5df041cf83"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6da7f26b78bc86e79648dc5df041cf83">&#9670;&nbsp;</a></span>lambda</h2>
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<td class="memname">double small_gicp::RestrictDoFFactor::lambda</td>
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<p>Regularization parameter (Increasing this makes the constraint stronger) </p>
</div>
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<a id="afb80d9e38ca89bd986356c5976d513a3"></a>
<h2 class="memtitle"><span class="permalink"><a href="#afb80d9e38ca89bd986356c5976d513a3">&#9670;&nbsp;</a></span>mask</h2>
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<td class="memname">Eigen::Array&lt;double, 6, 1&gt; small_gicp::RestrictDoFFactor::mask</td>
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<p>Mask for restricting DoF (rx, ry, rz, tx, ty, tz) </p>
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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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