g2o::CacheSE2Offset Class Reference

caching the offset related to a vertex More...

#include <parameter_se2_offset.h>

Inheritance diagram for g2o::CacheSE2Offset:

Collaboration diagram for g2o::CacheSE2Offset:

Public Member Functions
	CacheSE2Offset ()
virtual void	updateImpl ()
	redefine this to do the update More...
const ParameterSE2Offset *	offsetParam () const
void	setOffsetParam (ParameterSE2Offset *offsetParam)
const SE2 &	w2n () const
const SE2 &	n2w () const
const Isometry2D &	w2nMatrix () const
const Isometry2D &	n2wMatrix () const
const Isometry2D &	w2lMatrix () const
const Matrix2D	RpInverseRInverseMatrix () const
const Matrix2D	RpInverseRInversePrimeMatrix () const
Public Member Functions inherited from g2o::Cache
	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

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Protected Member Functions
virtual bool	resolveDependancies ()
Protected Member Functions inherited from g2o::Cache
Cache *	installDependency (const std::string &type_, const std::vector< int > &parameterIndices)

Protected Attributes
ParameterSE2Offset *	_offsetParam
	the parameter connected to the cache More...
SE2	_se2_w2n
SE2	_se2_n2w
Isometry2D	_w2n
	world to sensor transform More...
Isometry2D	_w2l
	world to local More...
Isometry2D	_n2w
	sensor to world More...
Matrix2D	_RpInverse_RInverse
Matrix2D	_RpInverse_RInversePrime
Protected Attributes inherited from g2o::Cache
bool	_updateNeeded
ParameterVector	_parameters
std::vector< Cache * >	_parentCaches
CacheContainer *	_container

Detailed Description

caching the offset related to a vertex

Definition at line 78 of file parameter_se2_offset.h.

Constructor & Destructor Documentation

g2o::CacheSE2Offset::CacheSE2Offset

(

)

Definition at line 65 of file parameter_se2_offset.cpp.

                                 :
    Cache(),
    _offsetParam(0)
  {
  }

Member Function Documentation

const SE2& g2o::CacheSE2Offset::n2w ( ) const

inline

Definition at line 88 of file parameter_se2_offset.h.

Referenced by g2o::EdgeSE2Offset::computeError(), and g2o::EdgeSE2Offset::setMeasurementFromState().

{return _se2_n2w;}

const Isometry2D& g2o::CacheSE2Offset::n2wMatrix ( ) const

inline

Definition at line 91 of file parameter_se2_offset.h.

{ return _n2w;}

const ParameterSE2Offset* g2o::CacheSE2Offset::offsetParam ( ) const

inline

Definition at line 84 of file parameter_se2_offset.h.

Referenced by g2o::EdgeSE2Offset::initialEstimate(), and setOffsetParam().

{ return _offsetParam;}

bool g2o::CacheSE2Offset::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 from g2o::Cache.

Definition at line 71 of file parameter_se2_offset.cpp.

References _offsetParam, and g2o::Cache::_parameters.

                                          {
    _offsetParam = dynamic_cast <ParameterSE2Offset*> (_parameters[0]);
    return _offsetParam != 0;
  }

const Matrix2D g2o::CacheSE2Offset::RpInverseRInverseMatrix ( ) const

inline

Definition at line 94 of file parameter_se2_offset.h.

Referenced by g2o::EdgeSE2PointXYOffset::linearizeOplus().

{ return _RpInverse_RInverse; }

const Matrix2D g2o::CacheSE2Offset::RpInverseRInversePrimeMatrix ( ) const

inline

Definition at line 95 of file parameter_se2_offset.h.

Referenced by g2o::EdgeSE2PointXYOffset::linearizeOplus().

{ return _RpInverse_RInversePrime; }

void g2o::CacheSE2Offset::setOffsetParam

(

ParameterSE2Offset *

offsetParam

)

Definition at line 99 of file parameter_se2_offset.cpp.

References _offsetParam, and offsetParam().

  {
    _offsetParam = offsetParam;
  }

void g2o::CacheSE2Offset::updateImpl ( )

virtual

redefine this to do the update

Implements g2o::Cache.

Definition at line 76 of file parameter_se2_offset.cpp.

References _n2w, _offsetParam, _RpInverse_RInverse, _RpInverse_RInversePrime, _se2_n2w, _se2_w2n, _w2l, _w2n, g2o::BaseVertex< D, T >::estimate(), g2o::SE2::inverse(), g2o::ParameterSE2Offset::offset(), g2o::SE2::rotation(), g2o::SE2::translation(), and g2o::Cache::vertex().

                                 {
    const VertexSE2* v = static_cast<const VertexSE2*>(vertex());
    _se2_n2w = v->estimate() * _offsetParam->offset();

    _n2w = _se2_n2w.rotation().toRotationMatrix();
    _n2w.translation() = _se2_n2w.translation();

    _se2_w2n = _se2_n2w.inverse();
    _w2n = _se2_w2n.rotation().toRotationMatrix();
    _w2n.translation() = _se2_w2n.translation();

    SE2 w2l = v->estimate().inverse();
    _w2l = w2l.rotation().toRotationMatrix();
    _w2l.translation() = w2l.translation();

    double alpha=v->estimate().rotation().angle();
    double c=cos(alpha), s=sin(alpha);
    Matrix2D RInversePrime;
    RInversePrime << -s, c, -c, -s;
    _RpInverse_RInversePrime = _offsetParam->offset().rotation().toRotationMatrix().transpose()*RInversePrime;
    _RpInverse_RInverse=w2l.rotation();
  }  

const Isometry2D& g2o::CacheSE2Offset::w2lMatrix ( ) const

inline

Definition at line 92 of file parameter_se2_offset.h.

Referenced by g2o::EdgeSE2PointXYOffset::computeError(), and g2o::EdgeSE2PointXYOffset::setMeasurementFromState().

{ return _w2l;}

const SE2& g2o::CacheSE2Offset::w2n ( ) const

inline

Definition at line 87 of file parameter_se2_offset.h.

Referenced by g2o::EdgeSE2Offset::computeError(), and g2o::EdgeSE2Offset::setMeasurementFromState().

{return _se2_w2n;}

const Isometry2D& g2o::CacheSE2Offset::w2nMatrix ( ) const

inline

Definition at line 90 of file parameter_se2_offset.h.

{ return _w2n;}

Member Data Documentation

Isometry2D g2o::CacheSE2Offset::_n2w

protected

sensor to world

Definition at line 104 of file parameter_se2_offset.h.

Referenced by updateImpl().

ParameterSE2Offset* g2o::CacheSE2Offset::_offsetParam

protected

the parameter connected to the cache

Definition at line 98 of file parameter_se2_offset.h.

Referenced by resolveDependancies(), setOffsetParam(), and updateImpl().

Matrix2D g2o::CacheSE2Offset::_RpInverse_RInverse

protected

Definition at line 105 of file parameter_se2_offset.h.

Referenced by updateImpl().

Matrix2D g2o::CacheSE2Offset::_RpInverse_RInversePrime

protected

Definition at line 106 of file parameter_se2_offset.h.

Referenced by updateImpl().

SE2 g2o::CacheSE2Offset::_se2_n2w

protected

Definition at line 100 of file parameter_se2_offset.h.

Referenced by updateImpl().

SE2 g2o::CacheSE2Offset::_se2_w2n

protected

Definition at line 99 of file parameter_se2_offset.h.

Referenced by updateImpl().

Isometry2D g2o::CacheSE2Offset::_w2l

protected

world to local

Definition at line 103 of file parameter_se2_offset.h.

Referenced by updateImpl().

Isometry2D g2o::CacheSE2Offset::_w2n

protected

world to sensor transform

Definition at line 102 of file parameter_se2_offset.h.

Referenced by updateImpl().

g2o::CacheSE2Offset::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 80 of file parameter_se2_offset.h.

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

• /home/xuezhisd/CLionProjects/g2o/g2o/types/slam2d/parameter_se2_offset.h
• /home/xuezhisd/CLionProjects/g2o/g2o/types/slam2d/parameter_se2_offset.cpp