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Public Types | Public Member Functions | Static Public Attributes | Protected Member Functions | Protected Attributes | List of all members
g2o::BaseEdge< D, E > Class Template Reference

#include <base_edge.h>

Inheritance diagram for g2o::BaseEdge< D, E >:
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Collaboration diagram for g2o::BaseEdge< D, E >:
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Public Types

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

Public Member Functions

 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 bool allVerticesFixed () const =0
 
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 void constructQuadraticForm ()=0
 
virtual void mapHessianMemory (double *d, int i, int j, bool rowMajor)=0
 
virtual void linearizeOplus (JacobianWorkspace &jacobianWorkspace)=0
 
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 Vertex * createVertex (int)
 
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...
 
virtual void resize (size_t size)
 
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 Dimension = D
 

Protected Member Functions

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

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

template<int D, typename E>
class g2o::BaseEdge< D, E >

Definition at line 40 of file base_edge.h.

Member Typedef Documentation

template<int D, typename E>
typedef Eigen::Matrix<double, D, 1, Eigen::ColMajor> g2o::BaseEdge< D, E >::ErrorVector

Definition at line 46 of file base_edge.h.

template<int D, typename E>
typedef Eigen::Matrix<double, D, D, Eigen::ColMajor> g2o::BaseEdge< D, E >::InformationType

Definition at line 47 of file base_edge.h.

template<int D, typename E>
typedef E g2o::BaseEdge< D, E >::Measurement

Definition at line 45 of file base_edge.h.

Constructor & Destructor Documentation

template<int D, typename E>
g2o::BaseEdge< D, E >::BaseEdge ( )
inline

Definition at line 49 of file base_edge.h.

49  : OptimizableGraph::Edge()
50  {
51  _dimension = D;
52  }
g2o::OptimizableGraph::Edge
class G2O_CORE_API Edge
Definition: optimizable_graph.h:76
template<int D, typename E>
virtual g2o::BaseEdge< D, E >::~BaseEdge ( )
inlinevirtual

Definition at line 54 of file base_edge.h.

54 {}

Member Function Documentation

template<int D, typename E>
virtual double g2o::BaseEdge< D, E >::chi2 ( ) const
inlinevirtual

computes the chi2 based on the cached error value, only valid after computeError has been called.

Implements g2o::OptimizableGraph::Edge.

Reimplemented in g2o::OnlineEdgeSE2, and g2o::OnlineEdgeSE3.

Definition at line 56 of file base_edge.h.

Referenced by main().

57  {
58  return _error.dot(information()*_error);
59  }
g2o::BaseEdge::_error
ErrorVector _error
Definition: base_edge.h:89
g2o::BaseEdge::information
EIGEN_STRONG_INLINE const InformationType & information() const
information matrix of the constraint
Definition: base_edge.h:67
template<int D, typename E>
const ErrorVector& g2o::BaseEdge< D, E >::error ( ) const
inline

Definition at line 63 of file base_edge.h.

63 { return _error;}
g2o::BaseEdge::_error
ErrorVector _error
Definition: base_edge.h:89
template<int D, typename E>
ErrorVector& g2o::BaseEdge< D, E >::error ( )
inline

Definition at line 64 of file base_edge.h.

64 { return _error;}
g2o::BaseEdge::_error
ErrorVector _error
Definition: base_edge.h:89
template<int D, typename E>
virtual const double* g2o::BaseEdge< D, E >::errorData ( ) const
inlinevirtual

returns the error vector cached after calling the computeError;

Implements g2o::OptimizableGraph::Edge.

Definition at line 61 of file base_edge.h.

61 { return _error.data();}
g2o::BaseEdge::_error
ErrorVector _error
Definition: base_edge.h:89
template<int D, typename E>
virtual double* g2o::BaseEdge< D, E >::errorData ( )
inlinevirtual

Implements g2o::OptimizableGraph::Edge.

Definition at line 62 of file base_edge.h.

62 { return _error.data();}
g2o::BaseEdge::_error
ErrorVector _error
Definition: base_edge.h:89
template<int D, typename E>
EIGEN_STRONG_INLINE const InformationType& g2o::BaseEdge< D, E >::information ( ) const
inline

information matrix of the constraint

Definition at line 67 of file base_edge.h.

Referenced by g2o::addOdometryCalibLinksDifferential(), g2o::BaseEdge< D, Eigen::Vector2d >::chi2(), g2o::BaseEdge<-1, E >::chi2(), main(), g2o::UnarySensor< Robot3D, EdgeSE3Prior >::mkEdge(), g2o::BinarySensor< Robot2D, EdgeSE2PointXY, WorldObjectPointXY >::mkEdge(), g2o::Gm2dlIO::readGm2dl(), g2o::BaseEdge< D, Eigen::Vector2d >::setInformation(), g2o::BaseEdge<-1, E >::setInformation(), g2o::SolverSLAM2DLinear::solveOrientation(), and g2o::Gm2dlIO::writeGm2dl().

67 { return _information;}
g2o::BaseEdge::_information
InformationType _information
Definition: base_edge.h:88
template<int D, typename E>
EIGEN_STRONG_INLINE InformationType& g2o::BaseEdge< D, E >::information ( )
inline

Definition at line 68 of file base_edge.h.

68 { return _information;}
g2o::BaseEdge::_information
InformationType _information
Definition: base_edge.h:88
template<int D, typename E>
virtual const double* g2o::BaseEdge< D, E >::informationData ( ) const
inlinevirtual

returns the memory of the information matrix, usable for example with a Eigen::Map<MatrixXD>

Implements g2o::OptimizableGraph::Edge.

Definition at line 71 of file base_edge.h.

71 { return _information.data();}
g2o::BaseEdge::_information
InformationType _information
Definition: base_edge.h:88
template<int D, typename E>
virtual double* g2o::BaseEdge< D, E >::informationData ( )
inlinevirtual

Implements g2o::OptimizableGraph::Edge.

Definition at line 72 of file base_edge.h.

72 { return _information.data();}
g2o::BaseEdge::_information
InformationType _information
Definition: base_edge.h:88
template<int D, typename E>
virtual void g2o::BaseEdge< D, E >::initialEstimate ( const OptimizableGraph::VertexSet &  from,
OptimizableGraph::Vertex *  to 
)
inlinevirtual

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

Implements g2o::OptimizableGraph::Edge.

Reimplemented in g2o::EdgeSBAScale, g2o::EdgeSBACam, TargetOdometry3DEdge, g2o::EdgeSim3, g2o::deprecated::EdgeSE3, g2o::EdgeSE2Line2D, g2o::EdgeSE2, g2o::EdgeSE2Segment2D, g2o::deprecated::EdgeSE3PointXYZDisparity, g2o::deprecated::EdgeSE3Offset, g2o::EdgeSE3PointXYZDisparity, g2o::deprecated::EdgeSE3PointXYZ, g2o::EdgeSE2Offset, g2o::EdgeSE2PointXYOffset, g2o::deprecated::EdgeSE3PointXYZDepth, g2o::EdgeSE3PointXYZ, g2o::EdgeSE3PointXYZDepth, g2o::EdgeSE3Prior, g2o::deprecated::EdgeSE3Prior, g2o::BaseUnaryEdge< D, E, VertexXi >, g2o::BaseUnaryEdge< 6, Isometry3D, VertexSE3 >, g2o::BaseUnaryEdge< 3, Eigen::Vector3d, VertexPosition3D >, g2o::BaseUnaryEdge< 1, Eigen::Vector2d, VertexCircle >, g2o::BaseUnaryEdge< 3, SE2, VertexSE2 >, g2o::BaseUnaryEdge< 2, Vector2D, VertexSE2 >, g2o::BaseUnaryEdge< 3, Eigen::Vector3d, VertexPositionVelocity3D >, g2o::BaseUnaryEdge< 1, Eigen::Vector2d, VertexParams >, g2o::BaseUnaryEdge< 6, SE3Quat, VertexSE3 >, g2o::EdgeSE2PointXYBearing, g2o::EdgeSE2PointXY, g2o::EdgeSE2Prior, g2o::EdgeSE2SensorCalib, g2o::OnlineEdgeSE2, g2o::OnlineEdgeSE3, g2o::EdgeSE3Offset, g2o::EdgeSE2PointXYCalib, g2o::EdgeSE3, g2o::EdgeSE2LotsOfXY, g2o::EdgeSE3LotsOfXYZ, and g2o::EdgeSE2TwoPointsXY.

Definition at line 80 of file base_edge.h.

81  {
82  std::cerr << "inititialEstimate() is not implemented, please give implementation in your derived class" << std::endl;
83  }
template<int D, typename E>
EIGEN_STRONG_INLINE const Measurement& g2o::BaseEdge< D, E >::measurement ( ) const
inline

accessor functions for the measurement represented by the edge

Definition at line 75 of file base_edge.h.

Referenced by g2o::SensorOdometry2D::addNoise(), g2o::SensorPointXYBearing::addNoise(), g2o::SensorOdometry3D::addNoise(), g2o::SensorPointXY::addNoise(), g2o::SensorPose2D::addNoise(), g2o::SensorPose3DOffset::addNoise(), g2o::SensorSegment2DPointLine::addNoise(), g2o::SensorPose3D::addNoise(), g2o::SensorPointXYOffset::addNoise(), g2o::SensorSegment2D::addNoise(), g2o::SensorSegment2DLine::addNoise(), g2o::SensorPointXYZDepth::addNoise(), g2o::SensorSE3Prior::addNoise(), g2o::SensorPointXYZ::addNoise(), g2o::SensorPointXYZDisparity::addNoise(), g2o::Edge_V_V_GICP::Edge_V_V_GICP(), main(), Robot::move(), g2o::EdgeSE2PointXYBearingWriteGnuplotAction::operator()(), g2o::EdgeSE2PointXYWriteGnuplotAction::operator()(), g2o::EdgeSE2WriteGnuplotAction::operator()(), g2o::ThetaTreeAction::perform(), g2o::SolverSLAM2DLinear::solveOrientation(), g2o::EdgeSE3PlaneSensorCalib::write(), and g2o::Gm2dlIO::writeGm2dl().

75 { return _measurement;}
g2o::BaseEdge::_measurement
Measurement _measurement
Definition: base_edge.h:87
template<int D, typename E>
virtual int g2o::BaseEdge< D, E >::rank ( ) const
inlinevirtual

Definition at line 78 of file base_edge.h.

78 {return _dimension;}
template<int D, typename E>
InformationType g2o::BaseEdge< D, E >::robustInformation ( const Vector3D &  rho)
inlineprotected

calculate the robust information matrix by updating the information matrix of the error

Definition at line 94 of file base_edge.h.

95  {
96  InformationType result = rho[1] * _information;
97  //ErrorVector weightedErrror = _information * _error;
98  //result.noalias() += 2 * rho[2] * (weightedErrror * weightedErrror.transpose());
99  return result;
100  }
g2o::BaseEdge::InformationType
Eigen::Matrix< double, D, D, Eigen::ColMajor > InformationType
Definition: base_edge.h:47
g2o::BaseEdge::_information
InformationType _information
Definition: base_edge.h:88
template<int D, typename E>
EIGEN_STRONG_INLINE void g2o::BaseEdge< D, E >::setInformation ( const InformationType &  information)
inline

Definition at line 69 of file base_edge.h.

Referenced by g2o::G2oSlamInterface::addEdge(), g2o::SensorOdometry2D::addNoise(), g2o::SensorPointXYBearing::addNoise(), g2o::SensorOdometry3D::addNoise(), g2o::SensorPointXY::addNoise(), g2o::SensorPose2D::addNoise(), g2o::SensorPose3DOffset::addNoise(), g2o::SensorSegment2DLine::addNoise(), g2o::SensorSegment2DPointLine::addNoise(), g2o::SensorPose3D::addNoise(), g2o::SensorPointXYOffset::addNoise(), g2o::SensorSegment2D::addNoise(), g2o::SensorSE3Prior::addNoise(), g2o::SensorPointXYZDepth::addNoise(), g2o::SensorPointXYZ::addNoise(), g2o::SensorPointXYZDisparity::addNoise(), main(), Robot::move(), and PlaneSensor::sense().

69 { _information = information;}
g2o::BaseEdge::_information
InformationType _information
Definition: base_edge.h:88
g2o::BaseEdge::information
EIGEN_STRONG_INLINE const InformationType & information() const
information matrix of the constraint
Definition: base_edge.h:67
template<int D, typename E>
virtual void g2o::BaseEdge< D, E >::setMeasurement ( const Measurement &  m)
inlinevirtual

Reimplemented in g2o::EdgeSBAScale, g2o::EdgeSBACam, g2o::deprecated::EdgeSE3, g2o::deprecated::EdgeSE3PointXYZDisparity, g2o::EdgeSE2Prior, g2o::EdgeSE3PointXYZDisparity, g2o::EdgeSE3PlaneSensorCalib, g2o::deprecated::EdgeSE3PointXYZ, g2o::EdgeSE2PointXYOffset, g2o::deprecated::EdgeSE3Offset, g2o::deprecated::EdgeSE3PointXYZDepth, g2o::EdgeSE2SensorCalib, g2o::EdgeSE2, g2o::EdgeSE2Offset, g2o::EdgeSE3PointXYZ, g2o::EdgeSE3PointXYZDepth, g2o::EdgeSE3Prior, g2o::EdgeSE3Line3D, g2o::deprecated::EdgeSE3Prior, g2o::EdgeLine3D, g2o::EdgePlane, g2o::EdgePointXY, g2o::EdgeLine2D, g2o::EdgePointXYZ, and g2o::EdgeSE3.

Definition at line 76 of file base_edge.h.

Referenced by g2o::SensorPointXYBearing::addNoise(), g2o::SensorPointXY::addNoise(), g2o::SensorSegment2D::addNoise(), g2o::SensorSegment2DLine::addNoise(), g2o::SensorSegment2DPointLine::addNoise(), g2o::addOdometryCalibLinksDifferential(), and main().

76 { _measurement = m;}
g2o::BaseEdge::_measurement
Measurement _measurement
Definition: base_edge.h:87

Member Data Documentation

template<int D, typename E>
ErrorVector g2o::BaseEdge< D, E >::_error
protected

Definition at line 89 of file base_edge.h.

Referenced by g2o::BaseEdge< D, Eigen::Vector2d >::chi2(), g2o::BaseEdge<-1, E >::chi2(), g2o::BaseEdge< D, Eigen::Vector2d >::error(), g2o::BaseEdge<-1, E >::error(), g2o::BaseEdge< D, Eigen::Vector2d >::errorData(), and g2o::BaseEdge<-1, E >::errorData().

template<int D, typename E>
InformationType g2o::BaseEdge< D, E >::_information
protected

Definition at line 88 of file base_edge.h.

Referenced by g2o::BaseEdge< D, Eigen::Vector2d >::information(), g2o::BaseEdge<-1, E >::information(), g2o::BaseEdge< D, Eigen::Vector2d >::informationData(), g2o::BaseEdge<-1, E >::informationData(), g2o::BaseEdge< D, Eigen::Vector2d >::robustInformation(), g2o::BaseEdge<-1, E >::robustInformation(), g2o::BaseEdge< D, Eigen::Vector2d >::setInformation(), and g2o::BaseEdge<-1, E >::setInformation().

template<int D, typename E>
Measurement g2o::BaseEdge< D, E >::_measurement
protected

Definition at line 87 of file base_edge.h.

Referenced by g2o::BaseEdge< D, Eigen::Vector2d >::measurement(), g2o::BaseEdge<-1, E >::measurement(), g2o::BaseEdge< D, Eigen::Vector2d >::setMeasurement(), and g2o::BaseEdge<-1, E >::setMeasurement().

template<int D, typename E>
const int g2o::BaseEdge< D, E >::Dimension = D
static

Definition at line 44 of file base_edge.h.

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