#include <targetTypes6D.hpp>

Inheritance diagram for TargetOdometry3DEdge:

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Collaboration diagram for TargetOdometry3DEdge:

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Public Member Functions
	TargetOdometry3DEdge (double dt, double noiseSigma)

virtual void	initialEstimate (const g2o::OptimizableGraph::VertexSet &from, g2o::OptimizableGraph::Vertex *to)

virtual double	initialEstimatePossible (const g2o::OptimizableGraph::VertexSet &from, g2o::OptimizableGraph::Vertex *to)

void	computeError ()

virtual bool	read (std::istream &)
	read the vertex from a stream, i.e., the internal state of the vertex More...

virtual bool	write (std::ostream &) const
	write the vertex to a stream More...

Public Member Functions inherited from g2o::BaseBinaryEdge< 6, Eigen::Vector3d, VertexPositionVelocity3D, VertexPositionVelocity3D >
	BaseBinaryEdge ()

virtual OptimizableGraph::Vertex *	createFrom ()

virtual OptimizableGraph::Vertex *	createTo ()

virtual OptimizableGraph::Vertex *	createVertex (int i)

virtual void	resize (size_t size)

virtual bool	allVerticesFixed () const

virtual void	linearizeOplus (JacobianWorkspace &jacobianWorkspace)

virtual void	linearizeOplus ()

const JacobianXiOplusType &	jacobianOplusXi () const
	returns the result of the linearization in the manifold space for the node xi More...

const JacobianXjOplusType &	jacobianOplusXj () const
	returns the result of the linearization in the manifold space for the node xj More...

virtual void	constructQuadraticForm ()

virtual void	mapHessianMemory (double *d, int i, int j, bool rowMajor)

Public Member Functions inherited from g2o::BaseEdge< D, Eigen::Vector3d >
	BaseEdge ()

virtual	~BaseEdge ()

virtual double	chi2 () const
	computes the chi2 based on the cached error value, only valid after computeError has been called. More...

virtual const double *	errorData () const
	returns the error vector cached after calling the computeError; More...

virtual double *	errorData ()

const ErrorVector &	error () const

ErrorVector &	error ()

EIGEN_STRONG_INLINE const InformationType &	information () const
	information matrix of the constraint More...

EIGEN_STRONG_INLINE InformationType &	information ()

EIGEN_STRONG_INLINE void	setInformation (const InformationType &information)

virtual const double *	informationData () const
	returns the memory of the information matrix, usable for example with a Eigen::Map<MatrixXD> More...

virtual double *	informationData ()

EIGEN_STRONG_INLINE const Measurement &	measurement () const
	accessor functions for the measurement represented by the edge More...

virtual void	setMeasurement (const Measurement &m)

virtual int	rank () const

Public Member Functions inherited from g2o::OptimizableGraph::Edge
	Edge ()

virtual	~Edge ()

virtual Edge *	clone () const

virtual bool	setMeasurementData (const double *m)

virtual bool	getMeasurementData (double *m) const

virtual int	measurementDimension () const

virtual bool	setMeasurementFromState ()

RobustKernel *	robustKernel () const
	if NOT NULL, error of this edge will be robustifed with the kernel More...

void	setRobustKernel (RobustKernel *ptr)

int	level () const
	returns the level of the edge More...

void	setLevel (int l)
	sets the level of the edge More...

int	dimension () const
	returns the dimensions of the error function More...

	G2O_ATTRIBUTE_DEPRECATED (virtual Vertex *createFrom())

	G2O_ATTRIBUTE_DEPRECATED (virtual Vertex *createTo())

long long	internalId () const
	the internal ID of the edge More...

OptimizableGraph *	graph ()

const OptimizableGraph *	graph () const

bool	setParameterId (int argNum, int paramId)

const Parameter *	parameter (int argNo) const

size_t	numParameters () const

void	resizeParameters (size_t newSize)

Public Member Functions inherited from g2o::HyperGraph::Edge
	Edge (int id=InvalidId)
	creates and empty edge with no vertices More...

const VertexContainer &	vertices () const

VertexContainer &	vertices ()

const Vertex *	vertex (size_t i) const

Vertex *	vertex (size_t i)

void	setVertex (size_t i, Vertex *v)

int	id () const

void	setId (int id)

virtual HyperGraphElementType	elementType () const

int	numUndefinedVertices () const

Public Member Functions inherited from g2o::HyperGraph::HyperGraphElement
virtual	~HyperGraphElement ()

HyperGraphElement *	clone () const

Public Member Functions inherited from g2o::HyperGraph::DataContainer
	DataContainer ()

virtual	~DataContainer ()

const Data *	userData () const
	the user data associated with this vertex More...

Data *	userData ()

void	setUserData (Data *obs)

void	addUserData (Data *obs)

Private Attributes
double	_dt

Additional Inherited Members
Public Types inherited from g2o::BaseBinaryEdge< 6, Eigen::Vector3d, VertexPositionVelocity3D, VertexPositionVelocity3D >
typedef VertexPositionVelocity3D	VertexXiType

typedef VertexPositionVelocity3D	VertexXjType

typedef BaseEdge< D, Eigen::Vector3d >::Measurement	Measurement

typedef Eigen::Matrix< double, D, Di, D==1?Eigen::RowMajor:Eigen::ColMajor >::AlignedMapType	JacobianXiOplusType

typedef Eigen::Matrix< double, D, Dj, D==1?Eigen::RowMajor:Eigen::ColMajor >::AlignedMapType	JacobianXjOplusType

typedef BaseEdge< D, Eigen::Vector3d >::ErrorVector	ErrorVector

typedef BaseEdge< D, Eigen::Vector3d >::InformationType	InformationType

typedef Eigen::Map< Eigen::Matrix< double, Di, Dj, Di==1?Eigen::RowMajor:Eigen::ColMajor >, Eigen::Matrix< double, Di, Dj, Di==1?Eigen::RowMajor:Eigen::ColMajor >::Flags &Eigen::AlignedBit?Eigen::Aligned:Eigen::Unaligned >	HessianBlockType

typedef Eigen::Map< Eigen::Matrix< double, Dj, Di, Dj==1?Eigen::RowMajor:Eigen::ColMajor >, Eigen::Matrix< double, Dj, Di, Dj==1?Eigen::RowMajor:Eigen::ColMajor >::Flags &Eigen::AlignedBit?Eigen::Aligned:Eigen::Unaligned >	HessianBlockTransposedType

Public Types inherited from g2o::BaseEdge< D, Eigen::Vector3d >
typedef Eigen::Vector3d	Measurement

typedef Eigen::Matrix< double, D, 1, Eigen::ColMajor >	ErrorVector

typedef Eigen::Matrix< double, D, D, Eigen::ColMajor >	InformationType

Static Public Attributes inherited from g2o::BaseBinaryEdge< 6, Eigen::Vector3d, VertexPositionVelocity3D, VertexPositionVelocity3D >
static const int	Di

static const int	Dj

static const int	Dimension

Static Public Attributes inherited from g2o::BaseEdge< D, Eigen::Vector3d >
static const int	Dimension

Protected Member Functions inherited from g2o::BaseEdge< D, Eigen::Vector3d >
InformationType	robustInformation (const Vector3D &rho)

Protected Member Functions inherited from g2o::OptimizableGraph::Edge
template<typename ParameterType >
bool	installParameter (ParameterType *&p, size_t argNo, int paramId=-1)

template<typename CacheType >
void	resolveCache (CacheType &cache, OptimizableGraph::Vertex , const std::string &_type, const ParameterVector &parameters)

bool	resolveParameters ()

virtual bool	resolveCaches ()

Protected Attributes inherited from g2o::BaseBinaryEdge< 6, Eigen::Vector3d, VertexPositionVelocity3D, VertexPositionVelocity3D >
bool	_hessianRowMajor

HessianBlockType	_hessian

HessianBlockTransposedType	_hessianTransposed

JacobianXiOplusType	_jacobianOplusXi

JacobianXjOplusType	_jacobianOplusXj

Protected Attributes inherited from g2o::BaseEdge< D, Eigen::Vector3d >
Measurement	_measurement

InformationType	_information

ErrorVector	_error

Protected Attributes inherited from g2o::OptimizableGraph::Edge
int	_dimension

int	_level

RobustKernel *	_robustKernel

long long	_internalId

std::vector< int >	_cacheIds

std::vector< std::string >	_parameterTypes

std::vector< Parameter ** >	_parameters

std::vector< int >	_parameterIds

Protected Attributes inherited from g2o::HyperGraph::Edge
VertexContainer	_vertices

int	_id
	unique id More...

Protected Attributes inherited from g2o::HyperGraph::DataContainer
Data *	_userData

Detailed Description

Definition at line 84 of file targetTypes6D.hpp.

Constructor & Destructor Documentation

TargetOdometry3DEdge::TargetOdometry3DEdge	(	double	dt,
		double	noiseSigma
	)

inline

Definition at line 87 of file targetTypes6D.hpp.

   {
     _dt = dt;
 
     double q = noiseSigma * noiseSigma;
     double dt2 = dt * dt;
 
     // Process noise covariance matrix; this assumes an "impulse"
     // noise model; we add a small stabilising term on the diagonal to make it invertible
     Matrix6d Q=Matrix6d::Zero();
     Q(0, 0) = Q(1,1) = Q(2,2) = dt2*dt2*q/4 + 1e-4;
     Q(0, 3) = Q(1, 4) = Q(2, 5) = dt*dt2*q/2;
     Q(3, 3) = Q(4,4) = Q(5,5) = dt2 * q + 1e-4;
     Q(3, 0) = Q(4, 1) = Q(5, 2) = dt*dt2*q/2;
 
     setInformation(Q.inverse());
   }

Member Function Documentation

void TargetOdometry3DEdge::computeError ( )

inlinevirtual

Implements g2o::OptimizableGraph::Edge.

Definition at line 133 of file targetTypes6D.hpp.

References g2o::BaseVertex< D, T >::estimate().

   {
     const VertexPositionVelocity3D* vi = static_cast<const VertexPositionVelocity3D*>(_vertices[0]);
     const VertexPositionVelocity3D* vj = static_cast<const VertexPositionVelocity3D*>(_vertices[1]);
     
     for (int k = 0; k < 3; k++)
       {
         _error[k] = vi->estimate()[k] + _dt * (vi->estimate()[k+3] + 0.5 * _dt * _measurement[k]) - vj->estimate()[k];
       }
     for (int k = 3; k < 6; k++)
       {
         _error[k] = vi->estimate()[k] + _dt * _measurement[k-3]- vj->estimate()[k];
       }
   }

virtual void TargetOdometry3DEdge::initialEstimate	(	const g2o::OptimizableGraph::VertexSet &	from,
		g2o::OptimizableGraph::Vertex *	to
	)

inlinevirtual

set the estimate of the to vertex, based on the estimate of the from vertex in the edge.

Reimplemented from g2o::BaseEdge< D, Eigen::Vector3d >.

Definition at line 106 of file targetTypes6D.hpp.

References g2o::BaseVertex< D, T >::estimate(), and g2o::BaseVertex< D, T >::setEstimate().

Referenced by main().

                                                                                                        {
     assert(from.size() == 1);
     const VertexPositionVelocity3D* vi = static_cast<const VertexPositionVelocity3D*>(*from.begin());
     VertexPositionVelocity3D* vj = static_cast<VertexPositionVelocity3D*>(to);
     Vector6d viEst=vi->estimate();
     Vector6d vjEst=viEst;
 
     for (int m = 0; m < 3; m++)
     {
       vjEst[m] += _dt * (vjEst[m+3] + 0.5 * _dt * _measurement[m]);
     }
 
     for (int m = 0; m < 3; m++)
     {
       vjEst[m+3] += _dt * _measurement[m];
     }
     vj->setEstimate(vjEst);
   }

virtual double TargetOdometry3DEdge::initialEstimatePossible	(	const g2o::OptimizableGraph::VertexSet &	from,
		g2o::OptimizableGraph::Vertex *	to
	)

inlinevirtual

override in your class if it's not possible to initialize the vertices in certain combinations

Reimplemented from g2o::OptimizableGraph::Edge.

Definition at line 126 of file targetTypes6D.hpp.

References g2o::HyperGraph::Vertex::id().

                                                                                                                   {
     //only works on sequential vertices
     const VertexPositionVelocity3D* vi = static_cast<const VertexPositionVelocity3D*>(*from.begin());
     return (to->id() - vi->id() == 1) ? 1.0 : -1.0;
   }

virtual bool TargetOdometry3DEdge::read ( std::istream & is )

inlinevirtual

read the vertex from a stream, i.e., the internal state of the vertex

Implements g2o::OptimizableGraph::Edge.

Definition at line 148 of file targetTypes6D.hpp.

   {
     return false;
   }

virtual bool TargetOdometry3DEdge::write ( std::ostream & os ) const

inlinevirtual

write the vertex to a stream

Implements g2o::OptimizableGraph::Edge.

Definition at line 153 of file targetTypes6D.hpp.

   {
     return false;
   }

Member Data Documentation

double TargetOdometry3DEdge::_dt

private

Definition at line 159 of file targetTypes6D.hpp.

The documentation for this class was generated from the following file:

/home/xuezhisd/CLionProjects/g2o/g2o/examples/target/targetTypes6D.hpp

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation