gtsam::abc::Innovation< N > Struct Template Reference

Public Member Functions
	Innovation (const Unit3 &y, const Unit3 &d, int index)
	Innovation ν = d×(ŷ) where ŷ is the predicted measurement under φ/ρ.
	Innovation (const Unit3 &y, const Unit3 &d, int index, const M &xi_ref)
Vector3	operator() (const M &xi_hat, OptionalJacobian< 3, M::dimension > H={}) const

Public Attributes
Unit3	y_
Unit3	d_
M	xi_ref_
int	index_

Public Types
using	M = State<N>

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The documentation for this struct was generated from the following file:

• /tmp/gtsam-4.3.0-doxygen.rsXPUS/source/gtsam_unstable/geometry/ABC.h