g2o::BaseVertex< D, T > Class Template Reference

Templatized BaseVertex. More...

#include <base_vertex.h>

Inheritance diagram for g2o::BaseVertex< D, T >:

Collaboration diagram for g2o::BaseVertex< D, T >:

Public Types
typedef T	EstimateType
typedef std::stack< EstimateType, std::vector< EstimateType, Eigen::aligned_allocator< EstimateType > > >	BackupStackType
typedef Eigen::Map< Eigen::Matrix< double, D, D, Eigen::ColMajor >, Eigen::Matrix< double, D, D, Eigen::ColMajor >::Flags &Eigen::AlignedBit?Eigen::Aligned:Eigen::Unaligned >	HessianBlockType

Public Member Functions
	BaseVertex ()
virtual const double &	hessian (int i, int j) const
	get the element from the hessian matrix More...
virtual double &	hessian (int i, int j)
virtual double	hessianDeterminant () const
virtual double *	hessianData ()
virtual void	mapHessianMemory (double *d)
virtual int	copyB (double *b_) const
virtual const double &	b (int i) const
	get the b vector element More...
virtual double &	b (int i)
virtual double *	bData ()
	return a pointer to the b vector associated with this vertex More...
virtual void	clearQuadraticForm ()
virtual double	solveDirect (double lambda=0)
Eigen::Matrix< double, D, 1, Eigen::ColMajor > &	b ()
	return right hand side b of the constructed linear system More...
const Eigen::Matrix< double, D, 1, Eigen::ColMajor > &	b () const
HessianBlockType &	A ()
	return the hessian block associated with the vertex More...
const HessianBlockType &	A () const
virtual void	push ()
	backup the position of the vertex to a stack More...
virtual void	pop ()
	restore the position of the vertex by retrieving the position from the stack More...
virtual void	discardTop ()
	pop the last element from the stack, without restoring the current estimate More...
virtual int	stackSize () const
	return the stack size More...
const EstimateType &	estimate () const
	return the current estimate of the vertex More...
void	setEstimate (const EstimateType &et)
	set the estimate for the vertex also calls updateCache() More...
Public Member Functions inherited from g2o::OptimizableGraph::Vertex
	Vertex ()
virtual Vertex *	clone () const
	returns a deep copy of the current vertex More...
virtual	~Vertex ()
void	setToOrigin ()
	sets the node to the origin (used in the multilevel stuff) More...
bool	setEstimateData (const double *estimate)
bool	setEstimateData (const std::vector< double > &estimate)
virtual bool	getEstimateData (double *estimate) const
virtual bool	getEstimateData (std::vector< double > &estimate) const
virtual int	estimateDimension () const
bool	setMinimalEstimateData (const double *estimate)
bool	setMinimalEstimateData (const std::vector< double > &estimate)
virtual bool	getMinimalEstimateData (double *estimate) const
virtual bool	getMinimalEstimateData (std::vector< double > &estimate) const
virtual int	minimalEstimateDimension () const
void	oplus (const double *v)
int	hessianIndex () const
	temporary index of this node in the parameter vector obtained from linearization More...
int	G2O_ATTRIBUTE_DEPRECATED (tempIndex() const)
void	setHessianIndex (int ti)
	set the temporary index of the vertex in the parameter blocks More...
void	G2O_ATTRIBUTE_DEPRECATED (setTempIndex(int ti))
bool	fixed () const
	true => this node is fixed during the optimization More...
void	setFixed (bool fixed)
	true => this node should be considered fixed during the optimization More...
bool	marginalized () const
	true => this node is marginalized out during the optimization More...
void	setMarginalized (bool marginalized)
	true => this node should be marginalized out during the optimization More...
int	dimension () const
	dimension of the estimated state belonging to this node More...
virtual void	setId (int id)
	sets the id of the node in the graph be sure that the graph keeps consistent after changing the id More...
void	setColInHessian (int c)
	set the row of this vertex in the Hessian More...
int	colInHessian () const
	get the row of this vertex in the Hessian More...
const OptimizableGraph *	graph () const
OptimizableGraph *	graph ()
void	lockQuadraticForm ()
void	unlockQuadraticForm ()
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...
virtual void	updateCache ()
CacheContainer *	cacheContainer ()
Public Member Functions inherited from g2o::HyperGraph::Vertex
	Vertex (int id=InvalidId)
	creates a vertex having an ID specified by the argument More...
int	id () const
	returns the id More...
const EdgeSet &	edges () const
	returns the set of hyper-edges that are leaving/entering in this vertex More...
EdgeSet &	edges ()
	returns the set of hyper-edges that are leaving/entering in this vertex More...
virtual HyperGraphElementType	elementType () 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
	dimension of the estimate (minimal) in the manifold space More...

Protected Attributes
HessianBlockType	_hessian
Eigen::Matrix< double, D, 1, Eigen::ColMajor >	_b
EstimateType	_estimate
BackupStackType	_backup
Protected Attributes inherited from g2o::OptimizableGraph::Vertex
OptimizableGraph *	_graph
Data *	_userData
int	_hessianIndex
bool	_fixed
bool	_marginalized
int	_dimension
int	_colInHessian
OpenMPMutex	_quadraticFormMutex
CacheContainer *	_cacheContainer
Protected Attributes inherited from g2o::HyperGraph::Vertex
int	_id
EdgeSet	_edges
Protected Attributes inherited from g2o::HyperGraph::DataContainer
Data *	_userData

Additional Inherited Members
Protected Member Functions inherited from g2o::OptimizableGraph::Vertex
virtual void	oplusImpl (const double *v)=0
virtual void	setToOriginImpl ()=0
	sets the node to the origin (used in the multilevel stuff) More...
virtual bool	setEstimateDataImpl (const double *)
virtual bool	setMinimalEstimateDataImpl (const double *)

Detailed Description

template<int D, typename T>
class g2o::BaseVertex< D, T >

Templatized BaseVertex.

Templatized BaseVertex D : minimal dimension of the vertex, e.g., 3 for rotation in 3D T : internal type to represent the estimate, e.g., Quaternion for rotation in 3D

Definition at line 50 of file base_vertex.h.

Member Typedef Documentation

template<int D, typename T>

typedef std::stack<EstimateType, std::vector<EstimateType, Eigen::aligned_allocator<EstimateType> > > g2o::BaseVertex< D, T >::BackupStackType

Definition at line 55 of file base_vertex.h.

template<int D, typename T>

typedef T g2o::BaseVertex< D, T >::EstimateType

Definition at line 52 of file base_vertex.h.

template<int D, typename T>

typedef Eigen::Map<Eigen::Matrix<double, D, D, Eigen::ColMajor>, Eigen::Matrix<double, D, D, Eigen::ColMajor>::Flags & Eigen::AlignedBit ? Eigen::Aligned : Eigen::Unaligned > g2o::BaseVertex< D, T >::HessianBlockType

Definition at line 59 of file base_vertex.h.

Constructor & Destructor Documentation

template<int D, typename T >

BaseVertex::BaseVertex

(

)

Definition at line 29 of file base_vertex.h.

              {

Member Function Documentation

template<int D, typename T>

HessianBlockType& g2o::BaseVertex< D, T >::A ( )

inline

return the hessian block associated with the vertex

Definition at line 90 of file base_vertex.h.

{ return _hessian;}

template<int D, typename T>

const HessianBlockType& g2o::BaseVertex< D, T >::A ( ) const

inline

Definition at line 91 of file base_vertex.h.

{ return _hessian;}

template<int D, typename T>

virtual const double& g2o::BaseVertex< D, T >::b ( int  i ) const

inlinevirtual

get the b vector element

Implements g2o::OptimizableGraph::Vertex.

Definition at line 76 of file base_vertex.h.

{ assert(i < D); return _b(i);}

template<int D, typename T>

virtual double& g2o::BaseVertex< D, T >::b ( int  i )

inlinevirtual

Implements g2o::OptimizableGraph::Vertex.

Definition at line 77 of file base_vertex.h.

{ assert(i < D); return _b(i);}

template<int D, typename T>

Eigen::Matrix<double, D, 1, Eigen::ColMajor>& g2o::BaseVertex< D, T >::b ( )

inline

return right hand side b of the constructed linear system

Definition at line 87 of file base_vertex.h.

{ return _b;}

template<int D, typename T>

const Eigen::Matrix<double, D, 1, Eigen::ColMajor>& g2o::BaseVertex< D, T >::b ( ) const

inline

Definition at line 88 of file base_vertex.h.

{ return _b;}

template<int D, typename T>

virtual double* g2o::BaseVertex< D, T >::bData ( )

inlinevirtual

return a pointer to the b vector associated with this vertex

Implements g2o::OptimizableGraph::Vertex.

Definition at line 78 of file base_vertex.h.

{ return _b.data();}

template<int D, typename T >

void BaseVertex::clearQuadraticForm ( )

virtual

set the b vector part of this vertex to zero

Implements g2o::OptimizableGraph::Vertex.

Definition at line 48 of file base_vertex.h.

Referenced by g2o::BaseVertex< 6, Vector6d >::bData().

                   : public OptimizableGraph::Vertex {

template<int D, typename T>

virtual int g2o::BaseVertex< D, T >::copyB ( double *  b_ ) const

inlinevirtual

copies the b vector in the array b_

Returns

the number of elements copied

Implements g2o::OptimizableGraph::Vertex.

Definition at line 71 of file base_vertex.h.

                                        {
      memcpy(b_, _b.data(), Dimension * sizeof(double));
      return Dimension; 
    }

template<int D, typename T>

virtual void g2o::BaseVertex< D, T >::discardTop ( )

inlinevirtual

pop the last element from the stack, without restoring the current estimate

Implements g2o::OptimizableGraph::Vertex.

Definition at line 95 of file base_vertex.h.

{ assert(!_backup.empty()); _backup.pop();}

template<int D, typename T>

const EstimateType& g2o::BaseVertex< D, T >::estimate ( ) const

inline

return the current estimate of the vertex

Definition at line 99 of file base_vertex.h.

Referenced by g2o::OnlineEdgeSE3::chi2(), g2o::EdgeSE2TwoPointsXY::computeError(), g2o::EdgeSE3::computeError(), g2o::EdgeSE3LotsOfXYZ::computeError(), g2o::EdgeSE2LotsOfXY::computeError(), g2o::EdgePointXYZ::computeError(), g2o::EdgeLine2D::computeError(), g2o::EdgePointXY::computeError(), g2o::EdgeSE2PointXYBearing::computeError(), g2o::EdgeLine3D::computeError(), g2o::EdgePlane::computeError(), g2o::EdgeSE2PointXY::computeError(), g2o::EdgeLine2DPointXY::computeError(), g2o::EdgeSE2Line2D::computeError(), g2o::EdgeSE2SensorCalib::computeError(), g2o::EdgeSE2OdomDifferentialCalib::computeError(), g2o::EdgeSE2Prior::computeError(), g2o::EdgeSE3PlaneSensorCalib::computeError(), g2o::EdgeSE2::computeError(), g2o::EdgeSE2PointXYCalib::computeError(), g2o::EdgeSE3Calib::computeError(), g2o::tutorial::EdgeSE2::computeError(), g2o::EdgeSE2Segment2D::computeError(), g2o::EdgeSE3PointXYZDepth::computeError(), g2o::tutorial::EdgeSE2PointXY::computeError(), g2o::EdgeSE3PointXYZ::computeError(), g2o::EdgeSE2Segment2DLine::computeError(), g2o::deprecated::EdgeSE3PointXYZDepth::computeError(), g2o::EdgeSE3Line3D::computeError(), g2o::deprecated::EdgeSE3PointXYZ::computeError(), g2o::EdgeSE2PointXYOffset::computeError(), g2o::deprecated::EdgeSE3::computeError(), g2o::EdgeSE2Segment2DPointLine::computeError(), g2o::EdgeSE3PointXYZDisparity::computeError(), g2o::EdgeSE2PureCalib::computeError(), g2o::deprecated::EdgeSE3PointXYZDisparity::computeError(), g2o::EdgeSE2XYPrior::computeError(), EdgeCalib::computeError(), GPSObservationPosition3DEdge::computeError(), g2o::EdgeSim3::computeError(), EdgePointOnCurve::computeError(), EdgePointOnCircle::computeError(), g2o::EdgeSE3Expmap::computeError(), g2o::EdgeSim3ProjectXYZ::computeError(), TargetOdometry3DEdge::computeError(), g2o::EdgeProjectXYZ2UV::computeError(), g2o::EdgeProjectP2MC::computeError(), g2o::EdgeProjectPSI2UV::computeError(), GPSObservationEdgePositionVelocity3D::computeError(), g2o::Edge_V_V_GICP::computeError(), g2o::EdgeProjectXYZ2UVU::computeError(), g2o::EdgeProjectP2SC::computeError(), EdgeObservationBAL::computeError(), g2o::EdgeProjectP2MC_Intrinsics::computeError(), g2o::EdgeSBACam::computeError(), g2o::EdgeSBAScale::computeError(), g2o::Edge_XYZ_VSC::computeError(), g2o::Slam2DViewer::draw(), g2o::Edge_XYZ_VSC::Edge_XYZ_VSC(), gnudump_edges(), gnudump_features(), g2o::EdgeSE2TwoPointsXY::initialEstimate(), g2o::EdgeSE3LotsOfXYZ::initialEstimate(), g2o::EdgeSE2LotsOfXY::initialEstimate(), g2o::EdgeSE3::initialEstimate(), g2o::EdgeSE2PointXYCalib::initialEstimate(), g2o::EdgeSE3Offset::initialEstimate(), g2o::EdgeSE2SensorCalib::initialEstimate(), g2o::EdgeSE2PointXYBearing::initialEstimate(), g2o::deprecated::EdgeSE3Prior::initialEstimate(), g2o::EdgeSE3Prior::initialEstimate(), g2o::EdgeSE3PointXYZ::initialEstimate(), g2o::EdgeSE2Offset::initialEstimate(), g2o::deprecated::EdgeSE3Offset::initialEstimate(), g2o::EdgeSE3PointXYZDisparity::initialEstimate(), g2o::deprecated::EdgeSE3PointXYZDisparity::initialEstimate(), g2o::EdgeSE2::initialEstimate(), g2o::deprecated::EdgeSE3::initialEstimate(), g2o::EdgeSim3::initialEstimate(), TargetOdometry3DEdge::initialEstimate(), g2o::EdgeSBACam::initialEstimate(), g2o::EdgeSBAScale::initialEstimate(), g2o::EdgeSE3::linearizeOplus(), g2o::EdgeSE3LotsOfXYZ::linearizeOplus(), g2o::EdgeSE2LotsOfXY::linearizeOplus(), g2o::deprecated::EdgeSE3Prior::linearizeOplus(), g2o::EdgeSE3PointXYZDepth::linearizeOplus(), g2o::EdgeSE3Prior::linearizeOplus(), g2o::EdgeSE3PointXYZ::linearizeOplus(), g2o::deprecated::EdgeSE3PointXYZDepth::linearizeOplus(), g2o::EdgeSE3Offset::linearizeOplus(), g2o::deprecated::EdgeSE3PointXYZ::linearizeOplus(), g2o::EdgeSE2PointXYOffset::linearizeOplus(), g2o::EdgeSE3PointXYZDisparity::linearizeOplus(), g2o::deprecated::EdgeSE3PointXYZDisparity::linearizeOplus(), g2o::deprecated::EdgeSE3Offset::linearizeOplus(), g2o::EdgeSE2PointXY::linearizeOplus(), g2o::EdgeSE2::linearizeOplus(), g2o::deprecated::EdgeSE3::linearizeOplus(), g2o::EdgeSE3Expmap::linearizeOplus(), g2o::EdgeProjectXYZ2UV::linearizeOplus(), g2o::EdgeProjectPSI2UV::linearizeOplus(), g2o::EdgeProjectP2MC::linearizeOplus(), g2o::Edge_V_V_GICP::linearizeOplus(), g2o::EdgeProjectP2SC::linearizeOplus(), EdgeObservationBAL::linearizeOplus(), g2o::EdgeProjectP2MC_Intrinsics::linearizeOplus(), main(), Robot::move(), g2o::EdgeSE3WriteGnuplotAction::operator()(), g2o::EdgeSE2PointXYBearingWriteGnuplotAction::operator()(), g2o::EdgeSE2PointXYWriteGnuplotAction::operator()(), g2o::VertexPointXYZWriteGnuplotAction::operator()(), g2o::VertexPointXYWriteGnuplotAction::operator()(), g2o::VertexSE2WriteGnuplotAction::operator()(), g2o::deprecated::VertexPointXYZWriteGnuplotAction::operator()(), g2o::EdgeSE2WriteGnuplotAction::operator()(), g2o::deprecated::VertexSE3WriteGnuplotAction::operator()(), g2o::deprecated::EdgeSE3WriteGnuplotAction::operator()(), g2o::VertexSE3WriteGnuplotAction::operator()(), g2o::Gm2dlIO::readGm2dl(), PlaneSensor::sense(), g2o::EdgeSE2TwoPointsXY::setMeasurementFromState(), g2o::EdgeSE3LotsOfXYZ::setMeasurementFromState(), g2o::EdgeSE2LotsOfXY::setMeasurementFromState(), g2o::EdgeSE3::setMeasurementFromState(), g2o::EdgeSE2PointXYBearing::setMeasurementFromState(), g2o::EdgeSE2PointXY::setMeasurementFromState(), g2o::EdgeLine2DPointXY::setMeasurementFromState(), g2o::EdgePointXYZ::setMeasurementFromState(), g2o::EdgePointXY::setMeasurementFromState(), g2o::EdgePlane::setMeasurementFromState(), g2o::EdgeLine3D::setMeasurementFromState(), g2o::EdgeSE3PointXYZDepth::setMeasurementFromState(), g2o::EdgeSE2Line2D::setMeasurementFromState(), g2o::EdgeLine2D::setMeasurementFromState(), g2o::deprecated::EdgeSE3PointXYZDepth::setMeasurementFromState(), g2o::EdgeSE3PointXYZ::setMeasurementFromState(), g2o::EdgeSE2Segment2D::setMeasurementFromState(), g2o::EdgeSE2PointXYOffset::setMeasurementFromState(), g2o::deprecated::EdgeSE3PointXYZ::setMeasurementFromState(), g2o::EdgeSE3PointXYZDisparity::setMeasurementFromState(), g2o::EdgeSE2::setMeasurementFromState(), g2o::deprecated::EdgeSE3PointXYZDisparity::setMeasurementFromState(), g2o::EdgeSE2Segment2DLine::setMeasurementFromState(), g2o::EdgeSE2Segment2DPointLine::setMeasurementFromState(), g2o::deprecated::EdgeSE3::setMeasurementFromState(), g2o::EdgeSBACam::setMeasurementFromState(), updateDisplay(), g2o::tutorial::CacheSE2Offset::updateImpl(), g2o::CacheSE3Offset::updateImpl(), g2o::CacheSE2Offset::updateImpl(), g2o::deprecated::CacheSE3Offset::updateImpl(), g2o::Gm2dlIO::updateLaserData(), g2o::VertexPointXYZ::write(), g2o::VertexPlane::write(), g2o::deprecated::VertexPointXYZ::write(), g2o::EdgeSE3PlaneSensorCalib::write(), g2o::EdgeSE2OdomDifferentialCalib::write(), g2o::EdgeSE2SensorCalib::write(), and g2o::VertexLine2D::write().

{ return _estimate;}

template<int D, typename T>

virtual const double& g2o::BaseVertex< D, T >::hessian ( int  i, int  j  ) const

inlinevirtual

get the element from the hessian matrix

Implements g2o::OptimizableGraph::Vertex.

Definition at line 64 of file base_vertex.h.

{ assert(i<D && j<D); return _hessian(i,j);}

template<int D, typename T>

virtual double& g2o::BaseVertex< D, T >::hessian ( int  i, int  j  )

inlinevirtual

Implements g2o::OptimizableGraph::Vertex.

Definition at line 65 of file base_vertex.h.

{ assert(i<D && j<D); return _hessian(i,j);}

template<int D, typename T>

virtual double* g2o::BaseVertex< D, T >::hessianData ( )

inlinevirtual

Implements g2o::OptimizableGraph::Vertex.

Definition at line 67 of file base_vertex.h.

{ return const_cast<double*>(_hessian.data());}

template<int D, typename T>

virtual double g2o::BaseVertex< D, T >::hessianDeterminant ( ) const

inlinevirtual

Implements g2o::OptimizableGraph::Vertex.

Definition at line 66 of file base_vertex.h.

{return _hessian.determinant();}

template<int D, typename T >

void BaseVertex::mapHessianMemory ( double *  d )

virtual

maps the internal matrix to some external memory location

Implements g2o::OptimizableGraph::Vertex.

Definition at line 53 of file base_vertex.h.

Referenced by g2o::BaseVertex< 6, Vector6d >::hessianData().

template<int D, typename T>

virtual void g2o::BaseVertex< D, T >::pop ( )

inlinevirtual

restore the position of the vertex by retrieving the position from the stack

Implements g2o::OptimizableGraph::Vertex.

Definition at line 94 of file base_vertex.h.

{ assert(!_backup.empty()); _estimate = _backup.top(); _backup.pop(); updateCache();}

template<int D, typename T>

virtual void g2o::BaseVertex< D, T >::push ( )

inlinevirtual

backup the position of the vertex to a stack

Implements g2o::OptimizableGraph::Vertex.

Definition at line 93 of file base_vertex.h.

Referenced by g2o::findConnectedEdgesWithCostLimit().

{ _backup.push(_estimate);}

template<int D, typename T>

void g2o::BaseVertex< D, T >::setEstimate ( const EstimateType &  et )

inline

set the estimate for the vertex also calls updateCache()

Definition at line 101 of file base_vertex.h.

Referenced by g2o::EdgeSE2TwoPointsXY::initialEstimate(), g2o::EdgeSE3LotsOfXYZ::initialEstimate(), g2o::EdgeSE2LotsOfXY::initialEstimate(), g2o::EdgeSE3::initialEstimate(), g2o::EdgeSE2PointXYCalib::initialEstimate(), g2o::EdgeSE3Offset::initialEstimate(), g2o::OnlineEdgeSE3::initialEstimate(), g2o::OnlineEdgeSE2::initialEstimate(), g2o::EdgeSE2SensorCalib::initialEstimate(), g2o::EdgeSE2PointXY::initialEstimate(), g2o::EdgeSE2Prior::initialEstimate(), g2o::EdgeSE2PointXYBearing::initialEstimate(), g2o::deprecated::EdgeSE3Prior::initialEstimate(), g2o::EdgeSE3PointXYZDepth::initialEstimate(), g2o::EdgeSE3Prior::initialEstimate(), g2o::deprecated::EdgeSE3PointXYZDepth::initialEstimate(), g2o::EdgeSE3PointXYZ::initialEstimate(), g2o::EdgeSE2Offset::initialEstimate(), g2o::deprecated::EdgeSE3PointXYZ::initialEstimate(), g2o::EdgeSE2PointXYOffset::initialEstimate(), g2o::EdgeSE3PointXYZDisparity::initialEstimate(), g2o::deprecated::EdgeSE3Offset::initialEstimate(), g2o::deprecated::EdgeSE3PointXYZDisparity::initialEstimate(), g2o::EdgeSE2::initialEstimate(), g2o::EdgeSE2Line2D::initialEstimate(), g2o::deprecated::EdgeSE3::initialEstimate(), g2o::EdgeSim3::initialEstimate(), TargetOdometry3DEdge::initialEstimate(), main(), Robot::move(), g2o::SparseOptimizerIncremental::optimize(), g2o::SparseOptimizerOnline::optimize(), g2o::Gm2dlIO::readGm2dl(), g2o::VertexCam::setEstimate(), and g2o::SolverSLAM2DLinear::solveOrientation().

{ _estimate = et; updateCache();}

template<int D, typename T >

double BaseVertex::solveDirect ( double  lambda = 0 )

virtual

updates the current vertex with the direct solution x += H_ii

Returns

the determinant of the inverted hessian

Implements g2o::OptimizableGraph::Vertex.

Definition at line 37 of file base_vertex.h.

Referenced by g2o::BaseVertex< 6, Vector6d >::bData().

              {

template<int D, typename T>

virtual int g2o::BaseVertex< D, T >::stackSize ( ) const

inlinevirtual

return the stack size

Implements g2o::OptimizableGraph::Vertex.

Definition at line 96 of file base_vertex.h.

{return _backup.size();}

Member Data Documentation

template<int D, typename T>

Eigen::Matrix<double, D, 1, Eigen::ColMajor> g2o::BaseVertex< D, T >::_b

protected

Definition at line 105 of file base_vertex.h.

Referenced by g2o::BaseVertex< 6, Vector6d >::b(), g2o::BaseVertex< 6, Vector6d >::bData(), and g2o::BaseVertex< 6, Vector6d >::copyB().

template<int D, typename T>

BackupStackType g2o::BaseVertex< D, T >::_backup

protected

Definition at line 107 of file base_vertex.h.

Referenced by g2o::BaseVertex< 6, Vector6d >::discardTop(), g2o::BaseVertex< 6, Vector6d >::pop(), g2o::BaseVertex< 6, Vector6d >::push(), and g2o::BaseVertex< 6, Vector6d >::stackSize().

template<int D, typename T>

EstimateType g2o::BaseVertex< D, T >::_estimate

protected

Definition at line 106 of file base_vertex.h.

Referenced by g2o::BaseVertex< 6, Vector6d >::estimate(), g2o::BaseVertex< 6, Vector6d >::pop(), g2o::BaseVertex< 6, Vector6d >::push(), and g2o::BaseVertex< 6, Vector6d >::setEstimate().

template<int D, typename T>

HessianBlockType g2o::BaseVertex< D, T >::_hessian

protected

Definition at line 104 of file base_vertex.h.

Referenced by g2o::BaseVertex< 6, Vector6d >::A(), g2o::BaseVertex< 6, Vector6d >::hessian(), g2o::BaseVertex< 6, Vector6d >::hessianData(), and g2o::BaseVertex< 6, Vector6d >::hessianDeterminant().

template<int D, typename T>

const int g2o::BaseVertex< D, T >::Dimension = D

static

dimension of the estimate (minimal) in the manifold space

Definition at line 57 of file base_vertex.h.

Referenced by g2o::BaseVertex< 6, Vector6d >::copyB().

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

• /home/xuezhisd/CLionProjects/g2o/g2o/core/base_vertex.h
• /home/xuezhisd/CLionProjects/g2o/g2o/core/base_vertex.hpp

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