caching the offset related to a vertex More...

#include <parameter_se3_offset.h>

Inheritance diagram for g2o::CacheSE3Offset:

Collaboration diagram for g2o::CacheSE3Offset:

[legend]

Public Member Functions
	CacheSE3Offset ()

virtual void	updateImpl ()
	redefine this to do the update More...

const ParameterSE3Offset *	offsetParam () const

void	setOffsetParam (ParameterSE3Offset *offsetParam)

const Isometry3D &	w2n () const

const Isometry3D &	n2w () const

const Isometry3D &	w2l () 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
ParameterSE3Offset *	_offsetParam
	the parameter connected to the cache More...

Isometry3D	_w2n

Isometry3D	_n2w

Isometry3D	_w2l

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 74 of file parameter_se3_offset.h.

Constructor & Destructor Documentation

g2o::CacheSE3Offset::CacheSE3Offset ( )

Definition at line 65 of file parameter_se3_offset.cpp.

                                  :
     Cache(),
     _offsetParam(0)
   {
   }

Member Function Documentation

const Isometry3D& g2o::CacheSE3Offset::n2w ( ) const

inline

Definition at line 84 of file parameter_se3_offset.h.

Referenced by g2o::EdgeSE3Prior::computeError(), g2o::EdgeSE3Offset::computeError(), g2o::EdgeSE3Offset::setMeasurementFromState(), and g2o::EdgeSE3Prior::setMeasurementFromState().

84 { return _n2w;}

g2o::CacheSE3Offset::_n2w

Isometry3D _n2w

Definition: parameter_se3_offset.h:90

const ParameterSE3Offset* g2o::CacheSE3Offset::offsetParam ( ) const

inline

Definition at line 80 of file parameter_se3_offset.h.

Referenced by g2o::EdgeSE3Offset::initialEstimate(), g2o::EdgeSE3Prior::linearizeOplus(), g2o::EdgeSE3Offset::linearizeOplus(), and setOffsetParam().

80 { return _offsetParam;}

g2o::CacheSE3Offset::_offsetParam

ParameterSE3Offset * _offsetParam

the parameter connected to the cache

Definition: parameter_se3_offset.h:88

bool g2o::CacheSE3Offset::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.

Reimplemented in g2o::CacheCamera.

Definition at line 71 of file parameter_se3_offset.cpp.

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

                                           {
     _offsetParam = dynamic_cast <ParameterSE3Offset*> (_parameters[0]);
     return _offsetParam != 0;
   }

void g2o::CacheSE3Offset::setOffsetParam ( ParameterSE3Offset * offsetParam )

Definition at line 83 of file parameter_se3_offset.cpp.

References _offsetParam, g2o::opengl::drawBox(), g2o::ParameterSE3Offset::offset(), offsetParam(), POSE_PARAMETER_COLOR, and g2o::DrawAction::refreshPropertyPtrs().

   {
     _offsetParam = offsetParam;
   }

void g2o::CacheSE3Offset::updateImpl ( )

virtual

redefine this to do the update

Implements g2o::Cache.

Reimplemented in g2o::CacheCamera.

Definition at line 76 of file parameter_se3_offset.cpp.

References _n2w, _offsetParam, _w2l, _w2n, g2o::BaseVertex< D, T >::estimate(), g2o::ParameterSE3Offset::offset(), and g2o::Cache::vertex().

                                  {
     const VertexSE3* v = static_cast<const VertexSE3*>(vertex());
     _n2w = v->estimate() * _offsetParam->offset();
     _w2n = _n2w.inverse();
     _w2l = v->estimate().inverse();
   }  