#include <base_binary_edge.h>

Inheritance diagram for g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >:

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Collaboration diagram for g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >:

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Public Types
typedef VertexXi	VertexXiType

typedef VertexXj	VertexXjType

typedef BaseEdge< D, E >::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, E >::ErrorVector	ErrorVector

typedef BaseEdge< D, E >::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, E >
typedef E	Measurement

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

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

Public Member Functions
	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, E >
	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

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

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

virtual	~Edge ()

virtual Edge *	clone () const

virtual void	computeError ()=0

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)

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

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())

virtual bool	read (std::istream &is)=0
	read the vertex from a stream, i.e., the internal state of the vertex More...

virtual bool	write (std::ostream &os) const =0
	write the vertex to a stream More...

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)

Static Public Attributes
static const int	Di = VertexXiType::Dimension

static const int	Dj = VertexXjType::Dimension

static const int	Dimension = BaseEdge<D, E>::Dimension

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

Protected Attributes
bool	_hessianRowMajor

HessianBlockType	_hessian

HessianBlockTransposedType	_hessianTransposed

JacobianXiOplusType	_jacobianOplusXi

JacobianXjOplusType	_jacobianOplusXj

Protected Attributes inherited from g2o::BaseEdge< D, E >
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

Additional Inherited Members
Protected Member Functions inherited from g2o::BaseEdge< D, E >
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 ()

Detailed Description

template<int D, typename E, typename VertexXi, typename VertexXj>
class g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >

Definition at line 40 of file base_binary_edge.h.

Member Typedef Documentation

template<int D, typename E, typename VertexXi, typename VertexXj>

typedef BaseEdge<D,E>::ErrorVector g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::ErrorVector

Definition at line 54 of file base_binary_edge.h.

template<int D, typename E, typename VertexXi, typename VertexXj>

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 > g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::HessianBlockTransposedType

Definition at line 60 of file base_binary_edge.h.

template<int D, typename E, typename VertexXi, typename VertexXj>

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 > g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::HessianBlockType

Definition at line 58 of file base_binary_edge.h.

template<int D, typename E, typename VertexXi, typename VertexXj>

typedef BaseEdge<D,E>::InformationType g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::InformationType

Definition at line 55 of file base_binary_edge.h.

template<int D, typename E, typename VertexXi, typename VertexXj>

typedef Eigen::Matrix<double, D, Di, D==1?Eigen::RowMajor:Eigen::ColMajor>::AlignedMapType g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::JacobianXiOplusType

Definition at line 52 of file base_binary_edge.h.

template<int D, typename E, typename VertexXi, typename VertexXj>

typedef Eigen::Matrix<double, D, Dj, D==1?Eigen::RowMajor:Eigen::ColMajor>::AlignedMapType g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::JacobianXjOplusType

Definition at line 53 of file base_binary_edge.h.

template<int D, typename E, typename VertexXi, typename VertexXj>

typedef BaseEdge<D,E>::Measurement g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::Measurement

Definition at line 51 of file base_binary_edge.h.

template<int D, typename E, typename VertexXi, typename VertexXj>

typedef VertexXi g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::VertexXiType

Definition at line 44 of file base_binary_edge.h.

template<int D, typename E, typename VertexXi, typename VertexXj>

typedef VertexXj g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::VertexXjType

Definition at line 45 of file base_binary_edge.h.

Constructor & Destructor Documentation

template<int D, typename E, typename VertexXi, typename VertexXj>

g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::BaseBinaryEdge ( )

inline

Definition at line 62 of file base_binary_edge.h.

                        : BaseEdge<D,E>(),
       _hessianRowMajor(false),
       _hessian(0, VertexXiType::Dimension, VertexXjType::Dimension), // HACK we map to the null pointer for initializing the Maps
       _hessianTransposed(0, VertexXjType::Dimension, VertexXiType::Dimension),
       _jacobianOplusXi(0, D, Di), _jacobianOplusXj(0, D, Dj)
       {
         _vertices.resize(2);
       }

Member Function Documentation

template<int D, typename E , typename VertexXiType , typename VertexXjType >

bool BaseBinaryEdge::allVerticesFixed ( ) const

virtual

Implements g2o::OptimizableGraph::Edge.

Definition at line 58 of file base_binary_edge.h.

Referenced by g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::constructQuadraticForm().

                                                                         :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;
 
       BaseBinaryEdge() : BaseEdge<D,E>(),

template<int D, typename E , typename VertexXiType , typename VertexXjType >

void BaseBinaryEdge::constructQuadraticForm ( )

virtual

Linearizes the constraint in the edge. Makes side effect on the vertices of the graph by changing the parameter vector b and the hessian blocks ii and jj. The off diagoinal block is accesed via _hessian.

Implements g2o::OptimizableGraph::Edge.

Definition at line 65 of file base_binary_edge.h.

References g2o::HyperGraph::Edge::_vertices, g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::allVerticesFixed(), g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::createFrom(), g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::createTo(), g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::createVertex(), g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::linearizeOplus(), and g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::resize().

Referenced by g2o::BaseBinaryEdge< 6, Vector6d, VertexLine3D, VertexLine3D >::jacobianOplusXj().

       {
         _vertices.resize(2);
       }
 
       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 { return _jacobianOplusXi;}
       const JacobianXjOplusType& jacobianOplusXj() const { return _jacobianOplusXj;}
 
       virtual void constructQuadraticForm() ;
 
       virtual void mapHessianMemory(double* d, int i, int j, bool rowMajor);
 
       using BaseEdge<D,E>::resize;
       using BaseEdge<D,E>::computeError;
 
     protected:
       using BaseEdge<D,E>::_measurement;
       using BaseEdge<D,E>::_information;
       using BaseEdge<D,E>::_error;
       using BaseEdge<D,E>::_vertices;
       using BaseEdge<D,E>::_dimension;
 
       bool _hessianRowMajor;
       HessianBlockType _hessian;
       HessianBlockTransposedType _hessianTransposed;
       JacobianXiOplusType _jacobianOplusXi;
       JacobianXjOplusType _jacobianOplusXj;
 
     public:
       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   };
 
 #include "base_binary_edge.hpp"
 
 } // end namespace g2o
 
 #endif
 

template<int D, typename E , typename VertexXiType , typename VertexXjType >

OptimizableGraph::Vertex * BaseBinaryEdge::createFrom ( )

virtual

Definition at line 29 of file base_binary_edge.h.

Referenced by g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::constructQuadraticForm().

37 {

template<int D, typename E , typename VertexXiType , typename VertexXjType >

OptimizableGraph::Vertex * BaseBinaryEdge::createTo ( )

virtual

Definition at line 34 of file base_binary_edge.h.

Referenced by g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::constructQuadraticForm().

37 {

template<int D, typename E , typename VertexXiType , typename VertexXjType >

OptimizableGraph::Vertex * BaseBinaryEdge::createVertex ( int i )

virtual

Reimplemented from g2o::OptimizableGraph::Edge.

Definition at line 39 of file base_binary_edge.h.

Referenced by g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::constructQuadraticForm().

                        : public BaseEdge<D, E>
   {
     public:
 
       typedef VertexXi VertexXiType;
       typedef VertexXj VertexXjType;

template<int D, typename E, typename VertexXi, typename VertexXj>

const JacobianXiOplusType& g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::jacobianOplusXi ( ) const

inline

returns the result of the linearization in the manifold space for the node xi

Definition at line 88 of file base_binary_edge.h.

88 { return _jacobianOplusXi;}

g2o::BaseBinaryEdge::_jacobianOplusXi

JacobianXiOplusType _jacobianOplusXi

Definition: base_binary_edge.h:109

template<int D, typename E, typename VertexXi, typename VertexXj>

const JacobianXjOplusType& g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::jacobianOplusXj ( ) const

inline

returns the result of the linearization in the manifold space for the node xj

Definition at line 90 of file base_binary_edge.h.

90 { return _jacobianOplusXj;}

g2o::BaseBinaryEdge::_jacobianOplusXj

JacobianXjOplusType _jacobianOplusXj

Definition: base_binary_edge.h:110

template<int D, typename E , typename VertexXiType , typename VertexXjType >

void BaseBinaryEdge::linearizeOplus ( JacobianWorkspace & jacobianWorkspace )

virtual

Linearizes the constraint in the edge in the manifold space, and store the result in the given workspace

Implements g2o::OptimizableGraph::Edge.

Definition at line 133 of file base_binary_edge.h.

template<int D, typename E , typename VertexXiType , typename VertexXjType >

void BaseBinaryEdge::linearizeOplus ( )

virtual

Linearizes the oplus operator in the vertex, and stores the result in temporary variables _jacobianOplusXi and _jacobianOplusXj

Reimplemented in EdgeObservationBAL, g2o::EdgeProjectP2SC, g2o::Edge_V_V_GICP, g2o::EdgeProjectP2MC, g2o::EdgeProjectXYZ2UV, g2o::EdgeSE3Expmap, g2o::deprecated::EdgeSE3, g2o::EdgeSE2, g2o::EdgeLine2D, g2o::EdgeLine3D, g2o::EdgePointXY, g2o::EdgePointXYZ, g2o::EdgeSE2PointXY, g2o::deprecated::EdgeSE3Offset, g2o::deprecated::EdgeSE3PointXYZDisparity, g2o::EdgeSE3PointXYZDisparity, g2o::deprecated::EdgeSE3PointXYZ, g2o::EdgeSE2PointXYOffset, g2o::EdgeSE3Offset, g2o::deprecated::EdgeSE3PointXYZDepth, g2o::EdgeSE3PointXYZ, g2o::EdgeSE3PointXYZDepth, and g2o::EdgeSE3.

Definition at line 141 of file base_binary_edge.h.

Referenced by g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::constructQuadraticForm().

template<int D, typename E , typename VertexXiType , typename VertexXjType >

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

virtual

maps the internal matrix to some external memory location, you need to provide the memory before calling constructQuadraticForm

Parameters

d	the memory location to which we map
i	index of the vertex i
j	index of the vertex j (j > i, upper triangular fashion)
rowMajor	if true, will write in rowMajor order to the block. Since EIGEN is columnMajor by default, this results in writing the transposed

Implements g2o::OptimizableGraph::Edge.

Definition at line 218 of file base_binary_edge.h.

Referenced by g2o::BaseBinaryEdge< 6, Vector6d, VertexLine3D, VertexLine3D >::jacobianOplusXj().

template<int D, typename E , typename VertexXiType , typename VertexXjType >

void BaseBinaryEdge::resize ( size_t size )

virtual

resizes the number of vertices connected by this edge

Reimplemented from g2o::HyperGraph::Edge.

Definition at line 49 of file base_binary_edge.h.

Referenced by g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::constructQuadraticForm().

                                                                     :Eigen::ColMajor>::AlignedMapType JacobianXiOplusType;
       typedef typename Eigen::Matrix<double, D, Dj, D==1?Eigen::RowMajor:Eigen::ColMajor>::AlignedMapType JacobianXjOplusType;
       typedef typename BaseEdge<D,E>::ErrorVector ErrorVector;
       typedef typename BaseEdge<D,E>::InformationType InformationType;

Member Data Documentation

template<int D, typename E, typename VertexXi, typename VertexXj>

HessianBlockType g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::_hessian

protected

Definition at line 107 of file base_binary_edge.h.

template<int D, typename E, typename VertexXi, typename VertexXj>

bool g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::_hessianRowMajor

protected

Definition at line 106 of file base_binary_edge.h.

template<int D, typename E, typename VertexXi, typename VertexXj>

HessianBlockTransposedType g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::_hessianTransposed

protected

Definition at line 108 of file base_binary_edge.h.

template<int D, typename E, typename VertexXi, typename VertexXj>

JacobianXiOplusType g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::_jacobianOplusXi

protected

Definition at line 109 of file base_binary_edge.h.

Referenced by g2o::BaseBinaryEdge< 6, Vector6d, VertexLine3D, VertexLine3D >::jacobianOplusXi().

template<int D, typename E, typename VertexXi, typename VertexXj>

JacobianXjOplusType g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::_jacobianOplusXj

protected

Definition at line 110 of file base_binary_edge.h.

Referenced by g2o::BaseBinaryEdge< 6, Vector6d, VertexLine3D, VertexLine3D >::jacobianOplusXj().

template<int D, typename E, typename VertexXi, typename VertexXj>

const int g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::Di = VertexXiType::Dimension

static

Definition at line 47 of file base_binary_edge.h.

template<int D, typename E, typename VertexXi, typename VertexXj>

const int g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::Dimension = BaseEdge<D, E>::Dimension

static

Definition at line 50 of file base_binary_edge.h.

template<int D, typename E, typename VertexXi, typename VertexXj>

const int g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::Dj = VertexXjType::Dimension

static

Definition at line 48 of file base_binary_edge.h.

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

/home/xuezhisd/CLionProjects/g2o/g2o/core/base_binary_edge.h
/home/xuezhisd/CLionProjects/g2o/g2o/core/base_binary_edge.hpp

Public Types

Public Member Functions

Static Public Attributes

Protected Attributes

Additional Inherited Members

Detailed Description

template<int D, typename E, typename VertexXi, typename VertexXj> class g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<int D, typename E, typename VertexXi, typename VertexXj>
class g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >