@Override
public void process(double[] input, double[] output) {
param.decode(input, pose);
residual.setModel(pose);
int index = 0;
for (int i = 0; i < obs.size(); i++) {
index = residual.computeResiduals(obs.get(i), output, index);
}
}
@Override
public int getM() {
return obs.size() * residual.getN();
}