g2o::EstimatePropagatorCostOdometry Class Reference

cost for traversing only odometry edges. More...

#include <estimate_propagator.h>

Inheritance diagram for g2o::EstimatePropagatorCostOdometry:

Collaboration diagram for g2o::EstimatePropagatorCostOdometry:

Public Member Functions
	EstimatePropagatorCostOdometry (SparseOptimizer *graph)
virtual double	operator() (OptimizableGraph::Edge *edge, const OptimizableGraph::VertexSet &from_, OptimizableGraph::Vertex *to_) const
virtual const char *	name () const
Public Member Functions inherited from g2o::EstimatePropagatorCost
	EstimatePropagatorCost (SparseOptimizer *graph)

Additional Inherited Members
Protected Attributes inherited from g2o::EstimatePropagatorCost
SparseOptimizer *	_graph

Detailed Description

cost for traversing only odometry edges.

Initialize your graph along odometry edges. An odometry edge is assumed to connect vertices whose IDs only differs by one.

Definition at line 62 of file estimate_propagator.h.

Constructor & Destructor Documentation

g2o::EstimatePropagatorCostOdometry::EstimatePropagatorCostOdometry

(

SparseOptimizer *

graph

)

Definition at line 252 of file estimate_propagator.cpp.

                                                                                       :
    EstimatePropagatorCost(graph)
  {
  }

Member Function Documentation

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

inlinevirtual

Reimplemented from g2o::EstimatePropagatorCost.

Definition at line 66 of file estimate_propagator.h.

{ return "odometry";}

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

virtual

Reimplemented from g2o::EstimatePropagatorCost.

Definition at line 257 of file estimate_propagator.cpp.

References g2o::EstimatePropagatorCost::_graph, g2o::SparseOptimizer::activeEdges(), g2o::SparseOptimizer::findActiveEdge(), g2o::HyperGraph::Vertex::id(), and g2o::OptimizableGraph::Edge::initialEstimatePossible().

  {
    OptimizableGraph::Edge* e = dynamic_cast<OptimizableGraph::Edge*>(edge);
    OptimizableGraph::Vertex* from = dynamic_cast<OptimizableGraph::Vertex*>(*from_.begin());
    OptimizableGraph::Vertex* to = dynamic_cast<OptimizableGraph::Vertex*>(to_);
    if (std::abs(from->id() - to->id()) != 1) // simple method to identify odometry edges in a pose graph
      return std::numeric_limits<double>::max();
    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);
  }

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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