bool LocalParamSe3::ComputeJacobian()

in IsometricPatternMatcher/LocalParamSe3.cpp [22:31]

• 9 lines of code
• 1 McCabe index (conditional complexity)

bool LocalParamSe3::ComputeJacobian(const double* T_raw,
                                    double* jacobian_raw) const {
  using JacobianMatrix = Eigen::Matrix<double, Sophus::SE3d::num_parameters,
                                       Sophus::SE3d::DoF, Eigen::RowMajor>;

  Eigen::Map<const Sophus::SE3d> T(T_raw);
  Eigen::Map<JacobianMatrix> jacobian(jacobian_raw);
  jacobian = T.Dx_this_mul_exp_x_at_0();
  return true;
}