localizer/include/fast_gicp/cuda/compute_derivatives.cuh

#ifndef FAST_GICP_CUDA_COMPUTE_DERIVATIVES_CUH
#define FAST_GICP_CUDA_COMPUTE_DERIVATIVES_CUH

#include <Eigen/Core>
#include <thrust/device_vector.h>

#include <fast_gicp/cuda/gaussian_voxelmap.cuh>

namespace fast_gicp {
  namespace cuda {

  double compute_derivatives(
    const thrust::device_vector<Eigen::Vector3f>& src_points,
    const thrust::device_vector<Eigen::Matrix3f>& src_covs,
    const GaussianVoxelMap& voxelmap,
    const thrust::device_vector<thrust::pair<int, int>>& voxel_correspondences,
    const thrust::device_ptr<const Eigen::Isometry3f>& linearized_x_ptr,
    const thrust::device_ptr<const Eigen::Isometry3f>& x_ptr,
    Eigen::Matrix<double, 6, 6>* H,
    Eigen::Matrix<double, 6, 1>* b);
  }
}  // namespace fast_gicp

#endif