g2o::Cache Class Reference

#include <cache.h>

Inheritance diagram for g2o::Cache:

Collaboration diagram for g2o::Cache:

Classes
class	CacheKey

Public Member Functions
	Cache (CacheContainer *container_=0, const ParameterVector &parameters_=ParameterVector())
CacheKey	key () const
OptimizableGraph::Vertex *	vertex ()
OptimizableGraph *	graph ()
CacheContainer *	container ()
ParameterVector &	parameters ()
void	update ()
virtual HyperGraph::HyperGraphElementType	elementType () const
Public Member Functions inherited from g2o::HyperGraph::HyperGraphElement
virtual	~HyperGraphElement ()
HyperGraphElement *	clone () const

Protected Member Functions
virtual void	updateImpl ()=0
	redefine this to do the update More...
Cache *	installDependency (const std::string &type_, const std::vector< int > &parameterIndices)
virtual bool	resolveDependancies ()

Protected Attributes
bool	_updateNeeded
ParameterVector	_parameters
std::vector< Cache * >	_parentCaches
CacheContainer *	_container

Friends
class	CacheContainer

Detailed Description

Definition at line 39 of file cache.h.

Constructor & Destructor Documentation

g2o::Cache::Cache	(	CacheContainer *	container_ = 0,
		const ParameterVector &	parameters_ = ParameterVector()
	)

Definition at line 46 of file cache.cpp.

                                                                             :
    _updateNeeded(true), _parameters(parameters_), _container(container_)
  {
  }

Member Function Documentation

CacheContainer * g2o::Cache::container

(

)

Definition at line 73 of file cache.cpp.

References _container.

Referenced by graph(), installDependency(), and vertex().

                                   {
    return _container;
  }

virtual HyperGraph::HyperGraphElementType g2o::Cache::elementType ( ) const

inlinevirtual

returns the type of the graph element, see HyperGraphElementType

Implements g2o::HyperGraph::HyperGraphElement.

Definition at line 71 of file cache.h.

References HGET_CACHE.

{ return HyperGraph::HGET_CACHE;}

OptimizableGraph * g2o::Cache::graph

(

)

Definition at line 67 of file cache.cpp.

References container(), and g2o::CacheContainer::graph().

                                 {
    if (container())
      return container()->graph();
    return 0;
  }

Cache * g2o::Cache::installDependency ( const std::string &  type_, const std::vector< int > &  parameterIndices  )

protected

this function installs and satisfies a cache

Parameters

type_

the typename of the dependency

parameterIndices

a vector containing the indices if the parameters in _parameters that will be used to assemble the Key of the cache being created For example if I have a cache of type C2, having parameters "A, B, and C", and it depends on a cache of type C1 that depends on the parameters A and C, the parameterIndices should contain "0, 2", since they are the positions in the parameter vector of C2 of the parameters needed to construct C1.

Returns

the newly created cache

Definition at line 97 of file cache.cpp.

References _parameters, _parentCaches, container(), g2o::CacheContainer::createCache(), and g2o::CacheContainer::findCache().

                                                                                               {
    ParameterVector pv(parameterIndices.size());
    for (size_t i=0; i<parameterIndices.size(); i++){
      if (parameterIndices[i]<0 || parameterIndices[i] >=(int)_parameters.size())
  return 0;
      pv[i]=_parameters[ parameterIndices[i] ];
    }
    CacheKey k(type_, pv);
    if (!container())
      return 0;
    Cache* c=container()->findCache(k);
    if (!c) {
      c = container()->createCache(k);
    }
    if (c)
      _parentCaches.push_back(c);
    return c;
  }

Cache::CacheKey g2o::Cache::key

(

)

const

Definition at line 81 of file cache.cpp.

References _parameters, g2o::Factory::instance(), and g2o::Factory::tag().

                                 {
    Factory* factory=Factory::instance();
    return CacheKey(factory->tag(this), _parameters);
  };

ParameterVector & g2o::Cache::parameters

(

)

Definition at line 77 of file cache.cpp.

References _parameters.

                                     {
    return _parameters;
  }

bool g2o::Cache::resolveDependancies ( )

protectedvirtual

Function to be called from a cache that has dependencies. It just invokes a sequence of installDependency(). Although the caches returned are stored in the _parentCache vector, it is better that you redefine your own cache member variables, for better readability

Reimplemented in g2o::CacheSE2Offset, g2o::deprecated::CacheSE3Offset, g2o::CacheSE3Offset, g2o::deprecated::CacheCamera, g2o::CacheCamera, and g2o::tutorial::CacheSE2Offset.

Definition at line 116 of file cache.cpp.

Referenced by g2o::CacheContainer::createCache().

                                 {
    return true;
  }

void g2o::Cache::update

(

)

Definition at line 87 of file cache.cpp.

References _parentCaches, _updateNeeded, and updateImpl().

Referenced by g2o::CacheContainer::createCache(), and g2o::CacheContainer::update().

                    {
    if (! _updateNeeded)
      return;
    for(std::vector<Cache*>::iterator it=_parentCaches.begin(); it!=_parentCaches.end(); it++){
      (*it)->update();
    }
    updateImpl();
    _updateNeeded=false;
  }

virtual void g2o::Cache::updateImpl ( )

protectedpure virtual

redefine this to do the update

Implemented in g2o::deprecated::CacheSE3Offset, g2o::CacheSE2Offset, g2o::CacheSE3Offset, g2o::deprecated::CacheCamera, g2o::CacheCamera, and g2o::tutorial::CacheSE2Offset.

Referenced by update().

OptimizableGraph::Vertex * g2o::Cache::vertex

(

)

Definition at line 61 of file cache.cpp.

References container(), and g2o::CacheContainer::vertex().

Referenced by g2o::CacheSE3Offset::updateImpl(), g2o::CacheSE2Offset::updateImpl(), and g2o::deprecated::CacheSE3Offset::updateImpl().

                                        { 
    if (container() ) 
      return container()->vertex(); 
    return 0; 
  }

Friends And Related Function Documentation

friend class CacheContainer

friend

Definition at line 42 of file cache.h.

Member Data Documentation

CacheContainer* g2o::Cache::_container

protected

Definition at line 101 of file cache.h.

Referenced by container(), and g2o::CacheContainer::createCache().

ParameterVector g2o::Cache::_parameters

protected

Definition at line 99 of file cache.h.

Referenced by g2o::CacheContainer::createCache(), installDependency(), key(), g2o::Cache::CacheKey::operator<(), parameters(), g2o::CacheSE3Offset::resolveDependancies(), g2o::deprecated::CacheSE3Offset::resolveDependancies(), and g2o::CacheSE2Offset::resolveDependancies().

std::vector<Cache*> g2o::Cache::_parentCaches

protected

Definition at line 100 of file cache.h.

Referenced by installDependency(), and update().

bool g2o::Cache::_updateNeeded

protected

Definition at line 98 of file cache.h.

Referenced by g2o::CacheContainer::setUpdateNeeded(), update(), and g2o::CacheContainer::update().

---

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

• /home/xuezhisd/CLionProjects/g2o/g2o/core/cache.h
• /home/xuezhisd/CLionProjects/g2o/g2o/core/cache.cpp