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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_1RobustFactor.html">RobustFactor</a></li> </ul>
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<a href="#nested-classes">Classes</a> |
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<a href="#pub-attribs">Public Attributes</a> |
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<a href="structsmall__gicp_1_1RobustFactor-members.html">List of all members</a> </div>
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<div class="headertitle">
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<div class="title">small_gicp::RobustFactor< Kernel, Factor > Struct Template Reference</div> </div>
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</div><!--header-->
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<div class="contents">
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<p>Robustify a factor with a robust kernel.
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<a href="structsmall__gicp_1_1RobustFactor.html#details">More...</a></p>
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<p><code>#include <<a class="el" href="robust__kernel_8hpp_source.html">robust_kernel.hpp</a>></code></p>
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<table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
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Classes</h2></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1RobustFactor_1_1Setting.html">Setting</a></td></tr>
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<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Robust factor setting. <a href="structsmall__gicp_1_1RobustFactor_1_1Setting.html#details">More...</a><br /></td></tr>
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<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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Public Member Functions</h2></td></tr>
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<tr class="memitem:aec0efc27610875bab44db5ff7a2438ce"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1RobustFactor.html#aec0efc27610875bab44db5ff7a2438ce">RobustFactor</a> (const <a class="el" href="structsmall__gicp_1_1RobustFactor_1_1Setting.html">Setting</a> &setting=<a class="el" href="structsmall__gicp_1_1RobustFactor_1_1Setting.html">Setting</a>())</td></tr>
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<tr class="memdesc:aec0efc27610875bab44db5ff7a2438ce"><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="structsmall__gicp_1_1RobustFactor.html#aec0efc27610875bab44db5ff7a2438ce">More...</a><br /></td></tr>
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<tr class="separator:aec0efc27610875bab44db5ff7a2438ce"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:abe796549693e216c231fc8ef9d4f4891"><td class="memTemplParams" colspan="2">template<typename TargetPointCloud , typename SourcePointCloud , typename TargetTree , typename CorrespondenceRejector > </td></tr>
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<tr class="memitem:abe796549693e216c231fc8ef9d4f4891"><td class="memTemplItemLeft" align="right" valign="top">bool </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1RobustFactor.html#abe796549693e216c231fc8ef9d4f4891">linearize</a> (const TargetPointCloud &target, const SourcePointCloud &source, const TargetTree &target_tree, const Eigen::Isometry3d &T, size_t source_index, const CorrespondenceRejector &rejector, Eigen::Matrix< double, 6, 6 > *H, Eigen::Matrix< double, 6, 1 > *b, double *e)</td></tr>
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<tr class="memdesc:abe796549693e216c231fc8ef9d4f4891"><td class="mdescLeft"> </td><td class="mdescRight">Linearize the factor. <a href="structsmall__gicp_1_1RobustFactor.html#abe796549693e216c231fc8ef9d4f4891">More...</a><br /></td></tr>
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<tr class="separator:abe796549693e216c231fc8ef9d4f4891"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ad96a6c46b611c4eadbb287dfa532c79c"><td class="memTemplParams" colspan="2">template<typename TargetPointCloud , typename SourcePointCloud > </td></tr>
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<tr class="memitem:ad96a6c46b611c4eadbb287dfa532c79c"><td class="memTemplItemLeft" align="right" valign="top">double </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1RobustFactor.html#ad96a6c46b611c4eadbb287dfa532c79c">error</a> (const TargetPointCloud &target, const SourcePointCloud &source, const Eigen::Isometry3d &T) const</td></tr>
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<tr class="memdesc:ad96a6c46b611c4eadbb287dfa532c79c"><td class="mdescLeft"> </td><td class="mdescRight">Evaluate error. <a href="structsmall__gicp_1_1RobustFactor.html#ad96a6c46b611c4eadbb287dfa532c79c">More...</a><br /></td></tr>
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<tr class="separator:ad96a6c46b611c4eadbb287dfa532c79c"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aa3d768312452d0c6ad68ff0f55fa6802"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1RobustFactor.html#aa3d768312452d0c6ad68ff0f55fa6802">inlier</a> () const</td></tr>
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<tr class="memdesc:aa3d768312452d0c6ad68ff0f55fa6802"><td class="mdescLeft"> </td><td class="mdescRight">Check if the factor is inlier. <a href="structsmall__gicp_1_1RobustFactor.html#aa3d768312452d0c6ad68ff0f55fa6802">More...</a><br /></td></tr>
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<tr class="separator:aa3d768312452d0c6ad68ff0f55fa6802"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
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Public Attributes</h2></td></tr>
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<tr class="memitem:afd4b4e1f74205840d243bfc51742ac61"><td class="memItemLeft" align="right" valign="top">Kernel </td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1RobustFactor.html#afd4b4e1f74205840d243bfc51742ac61">robust_kernel</a></td></tr>
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<tr class="memdesc:afd4b4e1f74205840d243bfc51742ac61"><td class="mdescLeft"> </td><td class="mdescRight">Robust kernel. <a href="structsmall__gicp_1_1RobustFactor.html#afd4b4e1f74205840d243bfc51742ac61">More...</a><br /></td></tr>
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<tr class="separator:afd4b4e1f74205840d243bfc51742ac61"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ae91f13cb7cb259f17b634c6571b45919"><td class="memItemLeft" align="right" valign="top">Factor </td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1RobustFactor.html#ae91f13cb7cb259f17b634c6571b45919">factor</a></td></tr>
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<tr class="memdesc:ae91f13cb7cb259f17b634c6571b45919"><td class="mdescLeft"> </td><td class="mdescRight">Factor. <a href="structsmall__gicp_1_1RobustFactor.html#ae91f13cb7cb259f17b634c6571b45919">More...</a><br /></td></tr>
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<tr class="separator:ae91f13cb7cb259f17b634c6571b45919"><td class="memSeparator" colspan="2"> </td></tr>
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</table>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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<div class="textblock"><h3>template<typename Kernel, typename Factor><br />
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struct small_gicp::RobustFactor< Kernel, Factor ></h3>
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<p>Robustify a factor with a robust kernel. </p>
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<dl class="tparams"><dt>Template Parameters</dt><dd>
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<table class="tparams">
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<tr><td class="paramname">Kernel</td><td>Robust kernel </td></tr>
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<tr><td class="paramname">Factor</td><td>Factor </td></tr>
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</table>
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</dd>
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</dl>
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</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
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<a id="aec0efc27610875bab44db5ff7a2438ce"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#aec0efc27610875bab44db5ff7a2438ce">◆ </a></span>RobustFactor()</h2>
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template<typename Kernel , typename Factor > </div>
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<td class="memname"><a class="el" href="structsmall__gicp_1_1RobustFactor.html">small_gicp::RobustFactor</a>< Kernel, Factor >::<a class="el" href="structsmall__gicp_1_1RobustFactor.html">RobustFactor</a> </td>
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<td>(</td>
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<td class="paramtype">const <a class="el" href="structsmall__gicp_1_1RobustFactor_1_1Setting.html">Setting</a> & </td>
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<td class="paramname"><em>setting</em> = <code><a class="el" href="structsmall__gicp_1_1RobustFactor_1_1Setting.html">Setting</a>()</code></td><td>)</td>
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<td></td>
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</td>
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<td class="mlabels-right">
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<p>Constructor. </p>
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</div>
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</div>
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<h2 class="groupheader">Member Function Documentation</h2>
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<a id="ad96a6c46b611c4eadbb287dfa532c79c"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ad96a6c46b611c4eadbb287dfa532c79c">◆ </a></span>error()</h2>
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template<typename Kernel , typename Factor > </div>
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template<typename TargetPointCloud , typename SourcePointCloud > </div>
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<td class="memname">double <a class="el" href="structsmall__gicp_1_1RobustFactor.html">small_gicp::RobustFactor</a>< Kernel, Factor >::error </td>
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<td>(</td>
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<td class="paramtype">const TargetPointCloud & </td>
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<td class="paramname"><em>target</em>, </td>
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<td></td>
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<td class="paramtype">const SourcePointCloud & </td>
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<td class="paramname"><em>source</em>, </td>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">const Eigen::Isometry3d & </td>
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<td class="paramname"><em>T</em> </td>
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<td></td>
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<td>)</td>
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<td></td><td> const</td>
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<p>Evaluate error. </p>
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<a id="aa3d768312452d0c6ad68ff0f55fa6802"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#aa3d768312452d0c6ad68ff0f55fa6802">◆ </a></span>inlier()</h2>
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<div class="memproto">
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template<typename Kernel , typename Factor > </div>
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<table class="mlabels">
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<td class="mlabels-left">
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<table class="memname">
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<td class="memname">bool <a class="el" href="structsmall__gicp_1_1RobustFactor.html">small_gicp::RobustFactor</a>< Kernel, Factor >::inlier </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td> const</td>
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<span class="mlabels"><span class="mlabel">inline</span></span> </td>
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</div><div class="memdoc">
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<p>Check if the factor is inlier. </p>
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</div>
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</div>
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<a id="abe796549693e216c231fc8ef9d4f4891"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#abe796549693e216c231fc8ef9d4f4891">◆ </a></span>linearize()</h2>
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template<typename Kernel , typename Factor > </div>
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<div class="memtemplate">
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template<typename TargetPointCloud , typename SourcePointCloud , typename TargetTree , typename CorrespondenceRejector > </div>
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<table class="mlabels">
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<td class="memname">bool <a class="el" href="structsmall__gicp_1_1RobustFactor.html">small_gicp::RobustFactor</a>< Kernel, Factor >::linearize </td>
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<td>(</td>
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<td class="paramtype">const TargetPointCloud & </td>
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<td class="paramname"><em>target</em>, </td>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">const SourcePointCloud & </td>
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<td class="paramname"><em>source</em>, </td>
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">const TargetTree & </td>
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<td class="paramtype">const Eigen::Isometry3d & </td>
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<td class="paramkey"></td>
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<td class="paramtype">size_t </td>
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<td class="paramname"><em>source_index</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">const CorrespondenceRejector & </td>
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<td class="paramname"><em>rejector</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">Eigen::Matrix< double, 6, 6 > * </td>
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<td class="paramname"><em>H</em>, </td>
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<td class="paramtype">Eigen::Matrix< double, 6, 1 > * </td>
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<td class="paramtype">double * </td>
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<td class="paramname"><em>e</em> </td>
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<td></td>
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<td>)</td>
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<td></td><td></td>
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<p>Linearize the factor. </p>
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<h2 class="groupheader">Member Data Documentation</h2>
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<a id="ae91f13cb7cb259f17b634c6571b45919"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ae91f13cb7cb259f17b634c6571b45919">◆ </a></span>factor</h2>
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template<typename Kernel , typename Factor > </div>
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<td class="memname">Factor <a class="el" href="structsmall__gicp_1_1RobustFactor.html">small_gicp::RobustFactor</a>< Kernel, Factor >::factor</td>
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<p>Factor. </p>
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<a id="afd4b4e1f74205840d243bfc51742ac61"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#afd4b4e1f74205840d243bfc51742ac61">◆ </a></span>robust_kernel</h2>
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template<typename Kernel , typename Factor > </div>
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<td class="memname">Kernel <a class="el" href="structsmall__gicp_1_1RobustFactor.html">small_gicp::RobustFactor</a>< Kernel, Factor >::robust_kernel</td>
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<p>Robust kernel. </p>
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<hr/>The documentation for this struct was generated from the following file:<ul>
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<li>/home/runner/work/small_gicp/small_gicp/include/small_gicp/factors/<a class="el" href="robust__kernel_8hpp_source.html">robust_kernel.hpp</a></li>
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