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OptimizationFunctor.hpp
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/******************************************************************************
* Author: Laurent Kneip *
* Contact: kneip.laurent@gmail.com *
* License: Copyright (c) 2013 Laurent Kneip, ANU. All rights reserved. *
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#ifndef OPENGV_OPTIMIZATIONFUNCTOR_HPP_
#define OPENGV_OPTIMIZATIONFUNCTOR_HPP_
#include <stdlib.h>
#include <Eigen/Eigen>
#include <Eigen/src/Core/util/DisableStupidWarnings.h>
using namespace std;
using namespace Eigen;
namespace opengv
{
template<typename _Scalar, int NX=Dynamic, int NY=Dynamic>
struct OptimizationFunctor
{
typedef _Scalar Scalar;
enum
{
InputsAtCompileTime = NX,
ValuesAtCompileTime = NY
};
typedef Matrix<Scalar,InputsAtCompileTime,1> InputType;
typedef Matrix<Scalar,ValuesAtCompileTime,1> ValueType;
typedef Matrix<Scalar,ValuesAtCompileTime,InputsAtCompileTime> JacobianType;
const int m_inputs;
const int m_values;
OptimizationFunctor() :
m_inputs(InputsAtCompileTime),
m_values(ValuesAtCompileTime) {}
OptimizationFunctor(int inputs, int values) :
m_inputs(inputs),
m_values(values) {}
int inputs() const
{
return m_inputs;
}
int values() const
{
return m_values;
}
};
}
#endif /* OPENGV_OPTIMIZATIONFUNCTOR_HPP_ */
opengv
The namespace of this library.
Definition AbsoluteAdapterBase.hpp:48
opengv::OptimizationFunctor::m_inputs
const int m_inputs
Definition OptimizationFunctor.hpp:76
opengv::OptimizationFunctor::InputType
Matrix< Scalar, InputsAtCompileTime, 1 > InputType
Definition OptimizationFunctor.hpp:69
opengv::OptimizationFunctor::ValueType
Matrix< Scalar, ValuesAtCompileTime, 1 > ValueType
Definition OptimizationFunctor.hpp:71
opengv::OptimizationFunctor::OptimizationFunctor
OptimizationFunctor()
Definition OptimizationFunctor.hpp:81
opengv::OptimizationFunctor::OptimizationFunctor
OptimizationFunctor(int inputs, int values)
Definition OptimizationFunctor.hpp:85
opengv::OptimizationFunctor::values
int values() const
Definition OptimizationFunctor.hpp:95
opengv::OptimizationFunctor::inputs
int inputs() const
Definition OptimizationFunctor.hpp:90
opengv::OptimizationFunctor::JacobianType
Matrix< Scalar, ValuesAtCompileTime, InputsAtCompileTime > JacobianType
Definition OptimizationFunctor.hpp:73
opengv::OptimizationFunctor::m_values
const int m_values
Definition OptimizationFunctor.hpp:78
opengv::OptimizationFunctor::Scalar
_Scalar Scalar
Definition OptimizationFunctor.hpp:61