Function Karana::Dynamics::Algorithms::evalConstraintPoseGradientMatrix

Function Karana::Dynamics::Algorithms::evalConstraintPoseGradientMatrix#

Function Documentation#

km::Mat Karana::Dynamics::Algorithms::evalConstraintPoseGradientMatrix(SubGraph &sg)#

Compute the gradient matrix for the constraint pose errors.

Compute the gradient matrix for the constraint pose errors for the bilateral constraints on the SubGraph.

Note that the returned matrix may not have full row rank when the constraints are not all independent.

The SubGraph::constraintErrorAt() and the SubGraph::constraintResidualAt() methods and can be used to look up the constraint instance associated with any specific row index in the returned matrix (based on whether with_constraint is ‘true’ or ‘false’ respectively). Similarly, the SubGraph::coordAt() method can be used to look up the coordinate instance for a specific column index in the returned matrix.

See the Constraints Related Algorithms section for more information.

Parameters:

sg – SubGraph instance

Returns:

The gradient matrix for the constraint pose errors.

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