g2o::BaseEdge<-1, E > Class Template Reference

#include <base_edge.h>

Inheritance diagram for g2o::BaseEdge<-1, E >:

Collaboration diagram for g2o::BaseEdge<-1, E >:

Public Types
typedef E	Measurement
typedef Eigen::Matrix< double, Eigen::Dynamic, 1, Eigen::ColMajor >	ErrorVector
typedef Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, 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 ()
const InformationType &	information () const
	information matrix of the constraint More...
InformationType &	information ()
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 ()
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 = -1

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<typename E>
class g2o::BaseEdge<-1, E >

Definition at line 108 of file base_edge.h.

Member Typedef Documentation

template<typename E >

typedef Eigen::Matrix<double, Eigen::Dynamic, 1, Eigen::ColMajor> g2o::BaseEdge<-1, E >::ErrorVector

Definition at line 114 of file base_edge.h.

template<typename E >

typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::ColMajor> g2o::BaseEdge<-1, E >::InformationType

Definition at line 115 of file base_edge.h.

template<typename E >

typedef E g2o::BaseEdge<-1, E >::Measurement

Definition at line 113 of file base_edge.h.

Constructor & Destructor Documentation

template<typename E >

g2o::BaseEdge<-1, E >::BaseEdge ( )

inline

Definition at line 117 of file base_edge.h.

                 : OptimizableGraph::Edge(){

      }

template<typename E >

virtual g2o::BaseEdge<-1, E >::~BaseEdge ( )

inlinevirtual

Definition at line 121 of file base_edge.h.

{}

Member Function Documentation

template<typename E >

virtual double g2o::BaseEdge<-1, E >::chi2 ( ) const

inlinevirtual

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

Implements g2o::OptimizableGraph::Edge.

Definition at line 123 of file base_edge.h.

References g2o::BaseEdge< D, E >::_error, and g2o::BaseEdge< D, E >::information().

      {
        return _error.dot(information()*_error);
      }

template<typename E >

const ErrorVector& g2o::BaseEdge<-1, E >::error ( ) const

inline

Definition at line 130 of file base_edge.h.

References g2o::BaseEdge< D, E >::_error.

{ return _error;}

template<typename E >

ErrorVector& g2o::BaseEdge<-1, E >::error ( )

inline

Definition at line 131 of file base_edge.h.

References g2o::BaseEdge< D, E >::_error.

{ return _error;}

template<typename E >

virtual const double* g2o::BaseEdge<-1, E >::errorData ( ) const

inlinevirtual

returns the error vector cached after calling the computeError;

Implements g2o::OptimizableGraph::Edge.

Definition at line 128 of file base_edge.h.

References g2o::BaseEdge< D, E >::_error.

{ return _error.data();}

template<typename E >

virtual double* g2o::BaseEdge<-1, E >::errorData ( )

inlinevirtual

Implements g2o::OptimizableGraph::Edge.

Definition at line 129 of file base_edge.h.

References g2o::BaseEdge< D, E >::_error.

{ return _error.data();}

template<typename E >

const InformationType& g2o::BaseEdge<-1, E >::information ( ) const

inline

information matrix of the constraint

Definition at line 134 of file base_edge.h.

References g2o::BaseEdge< D, E >::_information.

{ return _information;}

template<typename E >

InformationType& g2o::BaseEdge<-1, E >::information ( )

inline

Definition at line 135 of file base_edge.h.

References g2o::BaseEdge< D, E >::_information.

{ return _information;}

template<typename E >

virtual const double* g2o::BaseEdge<-1, 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 138 of file base_edge.h.

References g2o::BaseEdge< D, E >::_information.

{ return _information.data();}

template<typename E >

virtual double* g2o::BaseEdge<-1, E >::informationData ( )

inlinevirtual

Implements g2o::OptimizableGraph::Edge.

Definition at line 139 of file base_edge.h.

References g2o::BaseEdge< D, E >::_information.

{ return _information.data();}

template<typename E >

virtual void g2o::BaseEdge<-1, 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.

Definition at line 147 of file base_edge.h.

      {
        std::cerr << "inititialEstimate() is not implemented, please give implementation in your derived class" << std::endl;
      }

template<typename E >

const Measurement& g2o::BaseEdge<-1, E >::measurement ( ) const

inline

accessor functions for the measurement represented by the edge

Definition at line 142 of file base_edge.h.

References g2o::BaseEdge< D, E >::_measurement.

{ return _measurement;}

template<typename E >

virtual int g2o::BaseEdge<-1, E >::rank ( ) const

inlinevirtual

Definition at line 145 of file base_edge.h.

References g2o::OptimizableGraph::Edge::_dimension.

{return _dimension;}

template<typename E >

InformationType g2o::BaseEdge<-1, E >::robustInformation ( const Vector3D &  rho )

inlineprotected

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

Definition at line 161 of file base_edge.h.

References g2o::BaseEdge< D, E >::_information.

      {
        InformationType result = rho[1] * _information;
        //ErrorVector weightedErrror = _information * _error;
        //result.noalias() += 2 * rho[2] * (weightedErrror * weightedErrror.transpose());
        return result;
      }

template<typename E >

void g2o::BaseEdge<-1, E >::setInformation ( const InformationType &  information )

inline

Definition at line 136 of file base_edge.h.

References g2o::BaseEdge< D, E >::_information, and g2o::BaseEdge< D, E >::information().

{ _information = information;}

template<typename E >

virtual void g2o::BaseEdge<-1, E >::setMeasurement ( const Measurement &  m )

inlinevirtual

Definition at line 143 of file base_edge.h.

References g2o::BaseEdge< D, E >::_measurement.

{ _measurement = m;}

Member Data Documentation

template<typename E >

ErrorVector g2o::BaseEdge<-1, E >::_error

protected

Definition at line 156 of file base_edge.h.

template<typename E >

InformationType g2o::BaseEdge<-1, E >::_information

protected

Definition at line 155 of file base_edge.h.

template<typename E >

Measurement g2o::BaseEdge<-1, E >::_measurement

protected

Definition at line 154 of file base_edge.h.

template<typename E >

const int g2o::BaseEdge<-1, E >::Dimension = -1

static

Definition at line 112 of file base_edge.h.

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

• /home/xuezhisd/CLionProjects/g2o/g2o/core/base_edge.h