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

#include <base_multi_edge.h>

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Classes

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

Public Types

typedef BaseEdge<-1, E >::Measurement Measurement
 
typedef MatrixXD::MapType JacobianType
 
typedef BaseEdge<-1, E >::ErrorVector ErrorVector
 
typedef BaseEdge<-1, E >::InformationType InformationType
 
typedef Eigen::Map< MatrixXD, MatrixXD::Flags &Eigen::AlignedBit?Eigen::Aligned:Eigen::Unaligned > HessianBlockType
 
- Public Types inherited from g2o::BaseEdge<-1, E >
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

 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<-1, 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 ErrorVectorerror () const
 
ErrorVectorerror ()
 
const InformationTypeinformation () const
 information matrix of the constraint More...
 
InformationTypeinformation ()
 
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 Measurementmeasurement () 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 Edgeclone () const
 
virtual void computeError ()=0
 
virtual bool setMeasurementData (const double *m)
 
virtual bool getMeasurementData (double *m) const
 
virtual int measurementDimension () const
 
virtual bool setMeasurementFromState ()
 
RobustKernelrobustKernel () 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 VertexcreateVertex (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...
 
OptimizableGraphgraph ()
 
const OptimizableGraphgraph () const
 
bool setParameterId (int argNum, int paramId)
 
const Parameterparameter (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 VertexContainervertices () const
 
VertexContainervertices ()
 
const Vertexvertex (size_t i) const
 
Vertexvertex (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 ()
 
HyperGraphElementclone () const
 
- Public Member Functions inherited from g2o::HyperGraph::DataContainer
 DataContainer ()
 
virtual ~DataContainer ()
 
const DatauserData () const
 the user data associated with this vertex More...
 
DatauserData ()
 
void setUserData (Data *obs)
 
void addUserData (Data *obs)
 

Public Attributes

 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 

Static Public Attributes

static const int Dimension = BaseEdge<-1,E>::Dimension
 
- Static Public Attributes inherited from g2o::BaseEdge<-1, E >
static const int Dimension = -1
 

Protected Member Functions

void computeQuadraticForm (const InformationType &omega, const ErrorVector &weightedError)
 
- Protected Member Functions inherited from g2o::BaseEdge<-1, 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<-1, 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<typename E>
class g2o::BaseMultiEdge<-1, E >

Definition at line 111 of file base_multi_edge.h.

Member Typedef Documentation

template<typename E >
typedef BaseEdge<-1,E>::ErrorVector g2o::BaseMultiEdge<-1, E >::ErrorVector

Definition at line 127 of file base_multi_edge.h.

template<typename E >
typedef Eigen::Map<MatrixXD, MatrixXD::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > g2o::BaseMultiEdge<-1, E >::HessianBlockType

Definition at line 129 of file base_multi_edge.h.

template<typename E >
typedef BaseEdge<-1,E>::InformationType g2o::BaseMultiEdge<-1, E >::InformationType

Definition at line 128 of file base_multi_edge.h.

template<typename E >
typedef MatrixXD::MapType g2o::BaseMultiEdge<-1, E >::JacobianType

Definition at line 126 of file base_multi_edge.h.

template<typename E >
typedef BaseEdge<-1,E>::Measurement g2o::BaseMultiEdge<-1, E >::Measurement

Definition at line 125 of file base_multi_edge.h.

Constructor & Destructor Documentation

template<typename E >
g2o::BaseMultiEdge<-1, E >::BaseMultiEdge ( )
inline

Member Function Documentation

template<typename E >
bool g2o::BaseMultiEdge<-1, E >::allVerticesFixed ( ) const
virtual

Implements g2o::OptimizableGraph::Edge.

Definition at line 353 of file base_multi_edge.h.

template<typename E >
void g2o::BaseMultiEdge<-1, E >::computeQuadraticForm ( const InformationType omega,
const ErrorVector weightedError 
)
protected

Definition at line 364 of file base_multi_edge.h.

template<typename E >
void g2o::BaseMultiEdge<-1, E >::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 229 of file base_multi_edge.h.

template<typename E >
void g2o::BaseMultiEdge<-1, E >::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 245 of file base_multi_edge.h.

template<typename E >
void g2o::BaseMultiEdge<-1, E >::linearizeOplus ( )
virtual

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

Definition at line 256 of file base_multi_edge.h.

template<typename E >
void g2o::BaseMultiEdge<-1, E >::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
dthe memory location to which we map
iindex of the vertex i
jindex of the vertex j (j > i, upper triangular fashion)
rowMajorif 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 322 of file base_multi_edge.h.

template<typename E >
void g2o::BaseMultiEdge<-1, E >::resize ( size_t  size)
virtual

resizes the number of vertices connected by this edge

Reimplemented from g2o::HyperGraph::Edge.

Definition at line 342 of file base_multi_edge.h.

Member Data Documentation

template<typename E >
std::vector<HessianHelper> g2o::BaseMultiEdge<-1, E >::_hessian
protected

Definition at line 161 of file base_multi_edge.h.

template<typename E >
std::vector<JacobianType, Eigen::aligned_allocator<JacobianType> > g2o::BaseMultiEdge<-1, E >::_jacobianOplus
protected

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

Definition at line 162 of file base_multi_edge.h.

template<typename E >
const int g2o::BaseMultiEdge<-1, E >::Dimension = BaseEdge<-1,E>::Dimension
static

Definition at line 124 of file base_multi_edge.h.

template<typename E >
g2o::BaseMultiEdge<-1, E >::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 167 of file base_multi_edge.h.


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