g2o::EstimatePropagatorCost Class Reference

cost for traversing along active edges in the optimizer More...

#include <estimate_propagator.h>

Inheritance diagram for g2o::EstimatePropagatorCost:

Collaboration diagram for g2o::EstimatePropagatorCost:

Public Member Functions
	EstimatePropagatorCost (SparseOptimizer *graph)
virtual double	operator() (OptimizableGraph::Edge *edge, const OptimizableGraph::VertexSet &from, OptimizableGraph::Vertex *to_) const
virtual const char *	name () const

Protected Attributes
SparseOptimizer *	_graph

Detailed Description

cost for traversing along active edges in the optimizer

You may derive an own one, if necessary. The default is to return initialEstimatePossible(from, to) for the edge.

Definition at line 47 of file estimate_propagator.h.

Constructor & Destructor Documentation

g2o::EstimatePropagatorCost::EstimatePropagatorCost

(

SparseOptimizer *

graph

)

Definition at line 237 of file estimate_propagator.cpp.

                                                                        :
    _graph(graph)
  {
  }

Member Function Documentation

virtual const char* g2o::EstimatePropagatorCost::name ( ) const

inlinevirtual

Reimplemented in g2o::EstimatePropagatorCostOdometry.

Definition at line 51 of file estimate_propagator.h.

Referenced by g2o::SparseOptimizer::computeInitialGuess().

{ return "spanning tree";}

double g2o::EstimatePropagatorCost::operator() ( OptimizableGraph::Edge *  edge, const OptimizableGraph::VertexSet &  from, OptimizableGraph::Vertex *  to_  ) const

virtual

Reimplemented in g2o::EstimatePropagatorCostOdometry.

Definition at line 242 of file estimate_propagator.cpp.

References _graph, g2o::SparseOptimizer::activeEdges(), g2o::SparseOptimizer::findActiveEdge(), and g2o::OptimizableGraph::Edge::initialEstimatePossible().

  {
    OptimizableGraph::Edge* e = dynamic_cast<OptimizableGraph::Edge*>(edge);
    OptimizableGraph::Vertex* to = dynamic_cast<OptimizableGraph::Vertex*>(to_);
    SparseOptimizer::EdgeContainer::const_iterator it = _graph->findActiveEdge(e);
    if (it == _graph->activeEdges().end()) // it has to be an active edge
      return std::numeric_limits<double>::max();
    return e->initialEstimatePossible(from, to);
  }

Member Data Documentation

SparseOptimizer* g2o::EstimatePropagatorCost::_graph

protected

Definition at line 53 of file estimate_propagator.h.

Referenced by operator()(), and g2o::EstimatePropagatorCostOdometry::operator()().

---

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

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