通过g2o结构原理图可以知道class BaseEdge : public OptimizableGraph::Edge
,BaseEdge
继承自 OptimizableGraph::Edge
,
#ifndef G2O_BASE_EDGE_H
#define G2O_BASE_EDGE_H
#include <iostream>
#include <limits>
#include <Eigen/Core>
#include "optimizable_graph.h"
namespace g2o {
using namespace Eigen;
template <int D, typename E>
class BaseEdge : public OptimizableGraph::Edge
{
public:
static const int Dimension = D;
typedef E Measurement;
typedef Matrix<double, D, 1> ErrorVector;
typedef Matrix<