industrial_calibration::MaximumLikelihood Class Reference

Cost function for a parameter block based on the expected means and standard deviations for the values in the block. The inputs are an array of mean values and an array of standard deviations corresponding to the optimization variables in the parameter block. More...

Detailed Description

Ceres provides an example of a maximum likelihood constraint here: https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/robot_pose_mle.cc#165 blob: 83c0903d11f2558a9eb48884addc44853ffb903b

#include <maximum_likelihood.h>

Public Member Functions
	MaximumLikelihood (const Eigen::ArrayXXd &mean_, const Eigen::ArrayXXd &stdev_)
template<typename T >
bool	operator() (T const *const *parameter, T *residual) const

Public Attributes
Eigen::ArrayXXd	mean
Eigen::ArrayXXd	stdev