base class to represent an edge connecting an arbitrary number of nodes More...

#include <base_multi_edge.h>

Inheritance diagram for g2o::BaseMultiEdge< D, E >:

[legend]

Collaboration diagram for g2o::BaseMultiEdge< D, E >:

[legend]

Classes
struct	HessianHelper
	helper for mapping the Hessian memory of the upper triangular block More...

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

typedef MatrixXD::MapType	JacobianType

typedef BaseEdge< D, E >::ErrorVector	ErrorVector

typedef BaseEdge< D, E >::InformationType	InformationType

typedef Eigen::Map< MatrixXD, MatrixXD::Flags &Eigen::AlignedBit?Eigen::Aligned:Eigen::Unaligned >	HessianBlockType

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
	BaseMultiEdge ()

virtual void	linearizeOplus (JacobianWorkspace &jacobianWorkspace)

virtual void	linearizeOplus ()

virtual void	resize (size_t size)

virtual bool	allVerticesFixed () const

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 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...

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 = BaseEdge<D,E>::Dimension

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

Protected Member Functions
void	computeQuadraticForm (const InformationType &omega, const ErrorVector &weightedError)

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 ()

Protected Attributes
std::vector< HessianHelper >	_hessian

std::vector< JacobianType, Eigen::aligned_allocator< JacobianType > >	_jacobianOplus
	jacobians of the edge (w.r.t. oplus) More...

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

Detailed Description

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

base class to represent an edge connecting an arbitrary number of nodes

D - Dimension of the measurement E - type to represent the measurement

Definition at line 49 of file base_multi_edge.h.

Member Typedef Documentation

template<int D, typename E>

typedef BaseEdge<D,E>::ErrorVector g2o::BaseMultiEdge< D, E >::ErrorVector

Definition at line 65 of file base_multi_edge.h.

template<int D, typename E>

typedef Eigen::Map<MatrixXD, MatrixXD::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > g2o::BaseMultiEdge< D, E >::HessianBlockType

Definition at line 67 of file base_multi_edge.h.

template<int D, typename E>

typedef BaseEdge<D,E>::InformationType g2o::BaseMultiEdge< D, E >::InformationType

Definition at line 66 of file base_multi_edge.h.

template<int D, typename E>

typedef MatrixXD::MapType g2o::BaseMultiEdge< D, E >::JacobianType

Definition at line 64 of file base_multi_edge.h.

template<int D, typename E>

typedef BaseEdge<D,E>::Measurement g2o::BaseMultiEdge< D, E >::Measurement

Definition at line 63 of file base_multi_edge.h.

Constructor & Destructor Documentation

template<int D, typename E>

g2o::BaseMultiEdge< D, E >::BaseMultiEdge ( )

inline

Definition at line 69 of file base_multi_edge.h.

                       : BaseEdge<D,E>()
       {
       }

Member Function Documentation

template<int D, typename E >

bool BaseMultiEdge::allVerticesFixed ( ) const

virtual

Implements g2o::OptimizableGraph::Edge.

Definition at line 161 of file base_multi_edge.h.

Referenced by g2o::BaseMultiEdge< 3, VelocityMeasurement >::BaseMultiEdge(), and g2o::BaseMultiEdge<-1, E >::BaseMultiEdge().

           :
       EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
     };
 

template<int D, typename E >

void BaseMultiEdge::computeQuadraticForm	(	const InformationType &	omega,
		const ErrorVector &	weightedError
	)

protected

Definition at line 172 of file base_multi_edge.h.

template<int D, typename E >

void BaseMultiEdge::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 37 of file base_multi_edge.h.

Referenced by g2o::BaseMultiEdge< 3, VelocityMeasurement >::BaseMultiEdge(), and g2o::BaseMultiEdge<-1, E >::BaseMultiEdge().

               {
 
   template <int D, typename E>
     class BaseMultiEdge : public BaseEdge<D,E>

template<int D, typename E >

void BaseMultiEdge::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 53 of file base_multi_edge.h.

                            {
         Eigen::Map<MatrixXD> matrix;     
         bool transposed;          
         HessianHelper() : matrix(0, 0, 0), transposed(false) {}
       };
 
     public:

template<int D, typename E >

void BaseMultiEdge::linearizeOplus ( )

virtual

Linearizes the oplus operator in the vertex, and stores the result in temporary variable vector _jacobianOplus

Reimplemented in g2o::EdgeProjectP2MC_Intrinsics, g2o::EdgeProjectPSI2UV, g2o::EdgeSE2LotsOfXY, and g2o::EdgeSE3LotsOfXYZ.

Definition at line 64 of file base_multi_edge.h.

Referenced by g2o::BaseMultiEdge< 3, VelocityMeasurement >::BaseMultiEdge(), and g2o::BaseMultiEdge<-1, E >::BaseMultiEdge().

                                                                                 : Eigen::Unaligned > HessianBlockType;
 
       BaseMultiEdge() : BaseEdge<D,E>()
       {
       }
       
       virtual void linearizeOplus(JacobianWorkspace& jacobianWorkspace);
 
       virtual void linearizeOplus();
       
       virtual void resize(size_t size);
 
       virtual bool allVerticesFixed() const;
 
       virtual void constructQuadraticForm() ;
 
       virtual void mapHessianMemory(double* d, int i, int j, bool rowMajor);
 
       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;
 
       std::vector<HessianHelper> _hessian;
       std::vector<JacobianType, Eigen::aligned_allocator<JacobianType> > _jacobianOplus; 
 
       void computeQuadraticForm(const InformationType& omega, const ErrorVector& weightedError);
 
     public:
       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
     };
 
 
 
   // PARTIAL TEMPLATE SPECIALIZATION
   template <typename E>
   class BaseMultiEdge<-1,E> : public BaseEdge<-1,E>
   {
     public:
       struct HessianHelper {
         Eigen::Map<MatrixXD> matrix;     
         bool transposed;          
         HessianHelper() : matrix(0, 0, 0), transposed(false) {}
       };
 
     public:
       static const int Dimension = BaseEdge<-1,E>::Dimension;
       typedef typename BaseEdge<-1,E>::Measurement Measurement;
       typedef MatrixXD::MapType JacobianType;
       typedef typename BaseEdge<-1,E>::ErrorVector ErrorVector;

template<int D, typename E >

void BaseMultiEdge::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 130 of file base_multi_edge.h.

Referenced by g2o::BaseMultiEdge< 3, VelocityMeasurement >::BaseMultiEdge().

                       : BaseEdge<-1,E>()
     {
       // this->_variableSize = true;
     }
 
       virtual void linearizeOplus(JacobianWorkspace& jacobianWorkspace);
 
       virtual void linearizeOplus();
 
       virtual void resize(size_t size);
 
       virtual bool allVerticesFixed() const;
 

template<int D, typename E >

void BaseMultiEdge::resize ( size_t size )

virtual

resizes the number of vertices connected by this edge

Reimplemented from g2o::HyperGraph::Edge.

Definition at line 150 of file base_multi_edge.h.

Referenced by g2o::BaseMultiEdge< 3, VelocityMeasurement >::BaseMultiEdge(), g2o::BaseMultiEdge<-1, E >::BaseMultiEdge(), and main().

              :
       using BaseEdge<-1,E>::_measurement;
       using BaseEdge<-1,E>::_information;
       using BaseEdge<-1,E>::_error;
       using BaseEdge<-1,E>::_vertices;

Member Data Documentation

template<int D, typename E>

std::vector<HessianHelper> g2o::BaseMultiEdge< D, E >::_hessian

protected

Definition at line 98 of file base_multi_edge.h.

template<int D, typename E>

std::vector<JacobianType, Eigen::aligned_allocator<JacobianType> > g2o::BaseMultiEdge< D, E >::_jacobianOplus

protected

jacobians of the edge (w.r.t. oplus)

Definition at line 99 of file base_multi_edge.h.

template<int D, typename E>

const int g2o::BaseMultiEdge< D, E >::Dimension = BaseEdge<D,E>::Dimension

static

Definition at line 62 of file base_multi_edge.h.

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

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

Classes

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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