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<title>mrpt::graphslam::detail::AuxErrorEval< CPose2D, gst > Struct Reference</title>
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<li class="navelem"><a class="el" href="namespacemrpt.html">mrpt</a> </li>
<li class="navelem"><a class="el" href="namespacemrpt_1_1graphslam.html">graphslam</a> </li>
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<li class="navelem"><a class="el" href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose2_d_00_01gst_01_4.html">AuxErrorEval< CPose2D, gst ></a> </li>
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<a href="#pub-static-methods">Static Public Member Functions</a> </div>
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<div class="title">mrpt::graphslam::detail::AuxErrorEval< CPose2D, gst > Struct Reference</div> </div>
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<!-- doxytag: class="mrpt::graphslam::detail::AuxErrorEval< CPose2D, gst >" -->
<p><code>#include <<a class="el" href="levmarq__impl_8h_source.html">mrpt/graphslam/levmarq_impl.h</a>></code></p>
<p><a href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose2_d_00_01gst_01_4-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class POSE , class VEC , class EDGE_ITERATOR > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">static void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose2_d_00_01gst_01_4.html#a572d36df0b86f1338bcc72b6051bbaf1">computePseudoLnError</a> (const POSE &P1DP2inv, VEC &err, const EDGE_ITERATOR &edge)</td></tr>
<tr><td class="memTemplParams" colspan="2">template<class MAT , class EDGE_ITERATOR > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">static void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose2_d_00_01gst_01_4.html#af35304db5ee9b85dbf77b5056920744f">multiplyJtLambdaJ</a> (const MAT &J1, MAT &JtJ, const EDGE_ITERATOR &edge)</td></tr>
<tr><td class="memTemplParams" colspan="2">template<class MAT , class EDGE_ITERATOR > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">static void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose2_d_00_01gst_01_4.html#aeafac6308a83df88b28ccf5b32092c14">multiplyJ1tLambdaJ2</a> (const MAT &J1, const MAT &J2, MAT &JtJ, const EDGE_ITERATOR &edge)</td></tr>
<tr><td class="memTemplParams" colspan="2">template<class JAC , class EDGE_ITERATOR , class VEC1 , class VEC2 > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">static void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose2_d_00_01gst_01_4.html#a50b77aa57ebcc19ac8828403c4242760">multiply_Jt_W_err</a> (const JAC &J, const EDGE_ITERATOR &edge, const VEC1 &ERR, VEC2 &OUT)</td></tr>
</table>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a572d36df0b86f1338bcc72b6051bbaf1"></a><!-- doxytag: member="mrpt::graphslam::detail::AuxErrorEval< CPose2D, gst >::computePseudoLnError" ref="a572d36df0b86f1338bcc72b6051bbaf1" args="(const POSE &P1DP2inv, VEC &err, const EDGE_ITERATOR &edge)" -->
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template<class POSE , class VEC , class EDGE_ITERATOR > </div>
<table class="memname">
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<td class="memname">static void mrpt::graphslam::detail::AuxErrorEval< <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a>, gst >::computePseudoLnError </td>
<td>(</td>
<td class="paramtype">const POSE & </td>
<td class="paramname"><em>P1DP2inv</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">VEC & </td>
<td class="paramname"><em>err</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const EDGE_ITERATOR & </td>
<td class="paramname"><em>edge</em> </td>
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<td></td>
<td>)</td>
<td></td><td><code> [inline, static]</code></td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="levmarq__impl_8h_source.html#l00058">58</a> of file <a class="el" href="levmarq__impl_8h_source.html">levmarq_impl.h</a>.</p>
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<a class="anchor" id="a50b77aa57ebcc19ac8828403c4242760"></a><!-- doxytag: member="mrpt::graphslam::detail::AuxErrorEval< CPose2D, gst >::multiply_Jt_W_err" ref="a50b77aa57ebcc19ac8828403c4242760" args="(const JAC &J, const EDGE_ITERATOR &edge, const VEC1 &ERR, VEC2 &OUT)" -->
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template<class JAC , class EDGE_ITERATOR , class VEC1 , class VEC2 > </div>
<table class="memname">
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<td class="memname">static void mrpt::graphslam::detail::AuxErrorEval< <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a>, gst >::multiply_Jt_W_err </td>
<td>(</td>
<td class="paramtype">const JAC & </td>
<td class="paramname"><em>J</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const EDGE_ITERATOR & </td>
<td class="paramname"><em>edge</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const VEC1 & </td>
<td class="paramname"><em>ERR</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">VEC2 & </td>
<td class="paramname"><em>OUT</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inline, static]</code></td>
</tr>
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<div class="memdoc">
<p>Definition at line <a class="el" href="levmarq__impl_8h_source.html#l00067">67</a> of file <a class="el" href="levmarq__impl_8h_source.html">levmarq_impl.h</a>.</p>
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<a class="anchor" id="aeafac6308a83df88b28ccf5b32092c14"></a><!-- doxytag: member="mrpt::graphslam::detail::AuxErrorEval< CPose2D, gst >::multiplyJ1tLambdaJ2" ref="aeafac6308a83df88b28ccf5b32092c14" args="(const MAT &J1, const MAT &J2, MAT &JtJ, const EDGE_ITERATOR &edge)" -->
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template<class MAT , class EDGE_ITERATOR > </div>
<table class="memname">
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<td class="memname">static void mrpt::graphslam::detail::AuxErrorEval< <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a>, gst >::multiplyJ1tLambdaJ2 </td>
<td>(</td>
<td class="paramtype">const MAT & </td>
<td class="paramname"><em>J1</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const MAT & </td>
<td class="paramname"><em>J2</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">MAT & </td>
<td class="paramname"><em>JtJ</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const EDGE_ITERATOR & </td>
<td class="paramname"><em>edge</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inline, static]</code></td>
</tr>
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<div class="memdoc">
<p>Definition at line <a class="el" href="levmarq__impl_8h_source.html#l00064">64</a> of file <a class="el" href="levmarq__impl_8h_source.html">levmarq_impl.h</a>.</p>
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<a class="anchor" id="af35304db5ee9b85dbf77b5056920744f"></a><!-- doxytag: member="mrpt::graphslam::detail::AuxErrorEval< CPose2D, gst >::multiplyJtLambdaJ" ref="af35304db5ee9b85dbf77b5056920744f" args="(const MAT &J1, MAT &JtJ, const EDGE_ITERATOR &edge)" -->
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template<class MAT , class EDGE_ITERATOR > </div>
<table class="memname">
<tr>
<td class="memname">static void mrpt::graphslam::detail::AuxErrorEval< <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a>, gst >::multiplyJtLambdaJ </td>
<td>(</td>
<td class="paramtype">const MAT & </td>
<td class="paramname"><em>J1</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">MAT & </td>
<td class="paramname"><em>JtJ</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const EDGE_ITERATOR & </td>
<td class="paramname"><em>edge</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inline, static]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="levmarq__impl_8h_source.html#l00061">61</a> of file <a class="el" href="levmarq__impl_8h_source.html">levmarq_impl.h</a>.</p>
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