#include <base_unary_edge.h>

Inheritance diagram for g2o::BaseUnaryEdge< D, E, VertexXi >:

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Collaboration diagram for g2o::BaseUnaryEdge< D, E, VertexXi >:

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

typedef VertexXi	VertexXiType

typedef Eigen::Matrix< double, D, VertexXiType::Dimension, D==1?Eigen::RowMajor:Eigen::ColMajor >::AlignedMapType	JacobianXiOplusType

typedef BaseEdge< D, E >::ErrorVector	ErrorVector

typedef BaseEdge< D, E >::InformationType	InformationType

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
	BaseUnaryEdge ()

virtual void	resize (size_t size)

virtual bool	allVerticesFixed () const

virtual void	linearizeOplus (JacobianWorkspace &jacobianWorkspace)

virtual OptimizableGraph::Vertex *	createVertex (int i)

virtual void	linearizeOplus ()

const JacobianXiOplusType &	jacobianOplusXi () const
	returns the result of the linearization in the manifold space for the node xi More...

virtual void	constructQuadraticForm ()

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

virtual void	mapHessianMemory (double *, int, int, bool)

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

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	Dimension = BaseEdge<D, E>::Dimension

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

Protected Attributes
JacobianXiOplusType	_jacobianOplusXi

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>
class g2o::BaseUnaryEdge< D, E, VertexXi >

Definition at line 42 of file base_unary_edge.h.

Member Typedef Documentation

template<int D, typename E, typename VertexXi>

typedef BaseEdge<D,E>::ErrorVector g2o::BaseUnaryEdge< D, E, VertexXi >::ErrorVector

Definition at line 49 of file base_unary_edge.h.

template<int D, typename E, typename VertexXi>

typedef BaseEdge<D,E>::InformationType g2o::BaseUnaryEdge< D, E, VertexXi >::InformationType

Definition at line 50 of file base_unary_edge.h.

template<int D, typename E, typename VertexXi>

typedef Eigen::Matrix<double, D, VertexXiType::Dimension, D==1?Eigen::RowMajor:Eigen::ColMajor>::AlignedMapType g2o::BaseUnaryEdge< D, E, VertexXi >::JacobianXiOplusType

Definition at line 48 of file base_unary_edge.h.

template<int D, typename E, typename VertexXi>

typedef BaseEdge<D,E>::Measurement g2o::BaseUnaryEdge< D, E, VertexXi >::Measurement

Definition at line 46 of file base_unary_edge.h.

template<int D, typename E, typename VertexXi>

typedef VertexXi g2o::BaseUnaryEdge< D, E, VertexXi >::VertexXiType

Definition at line 47 of file base_unary_edge.h.

Constructor & Destructor Documentation

template<int D, typename E, typename VertexXi>

g2o::BaseUnaryEdge< D, E, VertexXi >::BaseUnaryEdge ( )

inline

Definition at line 52 of file base_unary_edge.h.

                       : BaseEdge<D,E>(),
         _jacobianOplusXi(0, D, VertexXiType::Dimension)
       {
         _vertices.resize(1);
       }

Member Function Documentation

template<int D, typename E , typename VertexXiType >

bool BaseUnaryEdge::allVerticesFixed ( ) const

virtual

Implements g2o::OptimizableGraph::Edge.

Definition at line 39 of file base_unary_edge.h.

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

42 : public BaseEdge<D,E>

template<int D, typename E , typename VertexXiType >

void BaseUnaryEdge::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 53 of file base_unary_edge.h.

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

Referenced by g2o::BaseUnaryEdge< 6, SE3Quat, VertexSE3 >::jacobianOplusXi().

       {
         _vertices.resize(1);
       }
 
       virtual void resize(size_t size);
 
       virtual bool allVerticesFixed() const;
 
       virtual void linearizeOplus(JacobianWorkspace& jacobianWorkspace);
 
       virtual OptimizableGraph::Vertex* createVertex(int i);
 
       virtual void linearizeOplus();
 
       const JacobianXiOplusType& jacobianOplusXi() const { return _jacobianOplusXi;}
 
       virtual void constructQuadraticForm();
 
       virtual void initialEstimate(const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* to);
 
       virtual void mapHessianMemory(double*, int, int, bool) {assert(0 && "BaseUnaryEdge does not map memory of the Hessian");}
 
       using BaseEdge<D,E>::resize;
       using BaseEdge<D,E>::computeError;

template<int D, typename E , typename VertexXiType >

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

virtual

Reimplemented from g2o::OptimizableGraph::Edge.

Definition at line 45 of file base_unary_edge.h.

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

                                                                                        :Eigen::ColMajor>::AlignedMapType JacobianXiOplusType;
       typedef typename BaseEdge<D,E>::ErrorVector ErrorVector;
       typedef typename BaseEdge<D,E>::InformationType InformationType;

template<int D, typename E , typename VertexXiType >

void BaseUnaryEdge::initialEstimate	(	const OptimizableGraph::VertexSet &	from,
		OptimizableGraph::Vertex *	to
	)

virtual

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

Reimplemented from g2o::BaseEdge< D, E >.

Reimplemented in g2o::EdgeSE3Prior, g2o::deprecated::EdgeSE3Prior, and g2o::EdgeSE2Prior.

Definition at line 136 of file base_unary_edge.h.

Referenced by g2o::BaseUnaryEdge< 6, SE3Quat, VertexSE3 >::jacobianOplusXi().

template<int D, typename E, typename VertexXi>

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

inline

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

Definition at line 73 of file base_unary_edge.h.

73 { return _jacobianOplusXi;}

g2o::BaseUnaryEdge::_jacobianOplusXi

JacobianXiOplusType _jacobianOplusXi

Definition: base_unary_edge.h:91

template<int D, typename E , typename VertexXiType >

void BaseUnaryEdge::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 85 of file base_unary_edge.h.

93 :

94 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

template<int D, typename E , typename VertexXiType >

void BaseUnaryEdge::linearizeOplus ( )

virtual

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

Reimplemented in g2o::EdgeSE2XYPrior, g2o::EdgeSE3Prior, and g2o::deprecated::EdgeSE3Prior.

Definition at line 92 of file base_unary_edge.h.

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

           :
       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
   };
 
 #include "base_unary_edge.hpp"
 
 } // end namespace g2o
 
 #endif
 

template<int D, typename E, typename VertexXi>

virtual void g2o::BaseUnaryEdge< D, E, VertexXi >::mapHessianMemory	(	double *	d,
		int	i,
		int	j,
		bool	rowMajor
	)

inlinevirtual

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 79 of file base_unary_edge.h.

79 {assert(0 && "BaseUnaryEdge does not map memory of the Hessian");}

template<int D, typename E , typename VertexXiType >

void BaseUnaryEdge::resize ( size_t size )

virtual

resizes the number of vertices connected by this edge

Reimplemented from g2o::HyperGraph::Edge.

Definition at line 29 of file base_unary_edge.h.

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

38 {