base_vertex.hpp

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
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template <int D, typename T>
BaseVertex<D, T>::BaseVertex() :
  OptimizableGraph::Vertex(),
  _hessian(0, D, D)
{
  _dimension = D;
}

template <int D, typename T>
double BaseVertex<D, T>::solveDirect(double lambda) {
  Eigen::Matrix<double, D, D, Eigen::ColMajor> tempA=_hessian + Eigen::Matrix<double, D, D, Eigen::ColMajor>::Identity()*lambda;
  double det=tempA.determinant();
  if (g2o_isnan(det) || det < std::numeric_limits<double>::epsilon())
    return det;
  Eigen::Matrix<double, D, 1, Eigen::ColMajor> dx=tempA.llt().solve(_b);
  oplus(&dx[0]);
  return det;
}

template <int D, typename T>
void BaseVertex<D, T>::clearQuadraticForm() {
  _b.setZero();
}

template <int D, typename T>
void BaseVertex<D, T>::mapHessianMemory(double* d)
{
  new (&_hessian) HessianBlockType(d, D, D);
}