struct sophus::LieGroupCeresTests::TestPointCostFunctorΒΆ

#include <test_impl.h>

struct TestPointCostFunctor {
    // fields

    LieGroupF64 t_aw;
    PointF64 point_a;

    // construction

    TestPointCostFunctor(
        LieGroupF64 const& t_aw,
        PointF64 const& point_a
        );

    // methods

    template <class TScalar>
    bool operator()(
        TScalar const*const s_t_wa,
        TScalar const*const spoint_b,
        TScalar* s_residuals
        ) const;
};