g2o
Public Member Functions | Public Attributes | List of all members
g2o::OnlineVertexSE3 Class Reference

#include <types_slam3d_online.h>

Inheritance diagram for g2o::OnlineVertexSE3:
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Collaboration diagram for g2o::OnlineVertexSE3:
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Public Member Functions

 OnlineVertexSE3 ()
 
virtual void oplusImpl (const double *update)
 
void oplusUpdatedEstimate (double *update)
 
- Public Member Functions inherited from g2o::VertexSE3
 VertexSE3 ()
 
virtual void setToOriginImpl ()
 sets the node to the origin (used in the multilevel stuff) More...
 
virtual bool read (std::istream &is)
 read the vertex from a stream, i.e., the internal state of the vertex More...
 
virtual bool write (std::ostream &os) const
 write the vertex to a stream More...
 
virtual bool setEstimateDataImpl (const double *est)
 
virtual bool getEstimateData (double *est) const
 
virtual int estimateDimension () const
 
virtual bool setMinimalEstimateDataImpl (const double *est)
 
virtual bool getMinimalEstimateData (double *est) const
 
virtual int minimalEstimateDimension () const
 
SE3Quat G2O_ATTRIBUTE_DEPRECATED (estimateAsSE3Quat() const)
 wrapper function to use the old SE3 type More...
 
void G2O_ATTRIBUTE_DEPRECATED (setEstimateFromSE3Quat(const SE3Quat &se3))
 wrapper function to use the old SE3 type More...
 
- Public Member Functions inherited from g2o::BaseVertex< 6, Isometry3D >
 BaseVertex ()
 
virtual const double & hessian (int i, int j) const
 get the element from the hessian matrix More...
 
virtual double & hessian (int i, int j)
 
virtual double hessianDeterminant () const
 
virtual double * hessianData ()
 
virtual void mapHessianMemory (double *d)
 
virtual int copyB (double *b_) const
 
virtual const double & b (int i) const
 get the b vector element More...
 
virtual double & b (int i)
 
Eigen::Matrix< double, D, 1, Eigen::ColMajor > & b ()
 return right hand side b of the constructed linear system More...
 
const Eigen::Matrix< double, D, 1, Eigen::ColMajor > & b () const
 
virtual double * bData ()
 return a pointer to the b vector associated with this vertex More...
 
virtual void clearQuadraticForm ()
 
virtual double solveDirect (double lambda=0)
 
HessianBlockTypeA ()
 return the hessian block associated with the vertex More...
 
const HessianBlockTypeA () const
 
virtual void push ()
 backup the position of the vertex to a stack More...
 
virtual void pop ()
 restore the position of the vertex by retrieving the position from the stack More...
 
virtual void discardTop ()
 pop the last element from the stack, without restoring the current estimate More...
 
virtual int stackSize () const
 return the stack size More...
 
const EstimateTypeestimate () const
 return the current estimate of the vertex More...
 
void setEstimate (const EstimateType &et)
 set the estimate for the vertex also calls updateCache() More...
 
- Public Member Functions inherited from g2o::OptimizableGraph::Vertex
 Vertex ()
 
virtual Vertexclone () const
 returns a deep copy of the current vertex More...
 
virtual ~Vertex ()
 
void setToOrigin ()
 sets the node to the origin (used in the multilevel stuff) More...
 
bool setEstimateData (const double *estimate)
 
bool setEstimateData (const std::vector< double > &estimate)
 
virtual bool getEstimateData (std::vector< double > &estimate) const
 
bool setMinimalEstimateData (const double *estimate)
 
bool setMinimalEstimateData (const std::vector< double > &estimate)
 
virtual bool getMinimalEstimateData (std::vector< double > &estimate) const
 
void oplus (const double *v)
 
int hessianIndex () const
 temporary index of this node in the parameter vector obtained from linearization More...
 
int G2O_ATTRIBUTE_DEPRECATED (tempIndex() const)
 
void setHessianIndex (int ti)
 set the temporary index of the vertex in the parameter blocks More...
 
void G2O_ATTRIBUTE_DEPRECATED (setTempIndex(int ti))
 
bool fixed () const
 true => this node is fixed during the optimization More...
 
void setFixed (bool fixed)
 true => this node should be considered fixed during the optimization More...
 
bool marginalized () const
 true => this node is marginalized out during the optimization More...
 
void setMarginalized (bool marginalized)
 true => this node should be marginalized out during the optimization More...
 
int dimension () const
 dimension of the estimated state belonging to this node More...
 
virtual void setId (int id)
 sets the id of the node in the graph be sure that the graph keeps consistent after changing the id More...
 
void setColInHessian (int c)
 set the row of this vertex in the Hessian More...
 
int colInHessian () const
 get the row of this vertex in the Hessian More...
 
const OptimizableGraphgraph () const
 
OptimizableGraphgraph ()
 
void lockQuadraticForm ()
 
void unlockQuadraticForm ()
 
virtual void updateCache ()
 
CacheContainercacheContainer ()
 
- Public Member Functions inherited from g2o::HyperGraph::Vertex
 Vertex (int id=InvalidId)
 creates a vertex having an ID specified by the argument More...
 
int id () const
 returns the id More...
 
const EdgeSetedges () const
 returns the set of hyper-edges that are leaving/entering in this vertex More...
 
EdgeSetedges ()
 returns the set of hyper-edges that are leaving/entering in this vertex More...
 
virtual HyperGraphElementType elementType () const
 
- Public Member Functions inherited from g2o::HyperGraph::HyperGraphElement
virtual ~HyperGraphElement ()
 
HyperGraphElementclone () const
 
- Public Member Functions inherited from g2o::HyperGraph::DataContainer
 DataContainer ()
 
virtual ~DataContainer ()
 
const DatauserData () const
 the user data associated with this vertex More...
 
DatauserData ()
 
void setUserData (Data *obs)
 
void addUserData (Data *obs)
 

Public Attributes

 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
VertexSE3::EstimateType updatedEstimate
 
- Public Attributes inherited from g2o::VertexSE3
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 

Additional Inherited Members

- Public Types inherited from g2o::BaseVertex< 6, Isometry3D >
typedef Isometry3D EstimateType
 
typedef std::stack< EstimateType, std::vector< EstimateType, Eigen::aligned_allocator< EstimateType > > > BackupStackType
 
typedef Eigen::Map< Eigen::Matrix< double, D, D, Eigen::ColMajor >, Eigen::Matrix< double, D, D, Eigen::ColMajor >::Flags &Eigen::AlignedBit?Eigen::Aligned:Eigen::Unaligned > HessianBlockType
 
- Static Public Attributes inherited from g2o::VertexSE3
static const int orthogonalizeAfter = 1000
 
- Static Public Attributes inherited from g2o::BaseVertex< 6, Isometry3D >
static const int Dimension
 dimension of the estimate (minimal) in the manifold space More...
 
- Protected Attributes inherited from g2o::VertexSE3
int _numOplusCalls
 store how often opluse was called to trigger orthogonaliation of the rotation matrix More...
 
- Protected Attributes inherited from g2o::BaseVertex< 6, Isometry3D >
HessianBlockType _hessian
 
Eigen::Matrix< double, D, 1, Eigen::ColMajor > _b
 
EstimateType _estimate
 
BackupStackType _backup
 
- Protected Attributes inherited from g2o::OptimizableGraph::Vertex
OptimizableGraph_graph
 
Data_userData
 
int _hessianIndex
 
bool _fixed
 
bool _marginalized
 
int _dimension
 
int _colInHessian
 
OpenMPMutex _quadraticFormMutex
 
CacheContainer_cacheContainer
 
- Protected Attributes inherited from g2o::HyperGraph::Vertex
int _id
 
EdgeSet _edges
 
- Protected Attributes inherited from g2o::HyperGraph::DataContainer
Data_userData
 

Detailed Description

Definition at line 37 of file types_slam3d_online.h.

Constructor & Destructor Documentation

g2o::OnlineVertexSE3::OnlineVertexSE3 ( )
inline

Definition at line 41 of file types_slam3d_online.h.

41 : VertexSE3(), updatedEstimate(Eigen::Isometry3d::Identity()) {}
VertexSE3::EstimateType updatedEstimate

Member Function Documentation

virtual void g2o::OnlineVertexSE3::oplusImpl ( const double *  update)
inlinevirtual

update the position of this vertex. The update is in the form (x,y,z,qx,qy,qz) whereas (x,y,z) represents the translational update and (qx,qy,qz) corresponds to the respective elements. The missing element qw of the quaternion is recovred by || (qw,qx,qy,qz) || == 1 => qw = sqrt(1 - || (qx,qy,qz) ||

Reimplemented from g2o::VertexSE3.

Definition at line 43 of file types_slam3d_online.h.

References g2o::VertexSE3::oplusImpl().

44  {
45  VertexSE3::oplusImpl(update);
47  }
virtual void oplusImpl(const double *update)
Definition: vertex_se3.h:105
VertexSE3::EstimateType updatedEstimate
void g2o::OnlineVertexSE3::oplusUpdatedEstimate ( double *  update)
inline

Definition at line 49 of file types_slam3d_online.h.

References g2o::internal::fromVectorMQT().

Referenced by g2o::SparseOptimizerOnline::update().

50  {
51  Eigen::Map<const Vector6d> v(update);
52  Eigen::Isometry3d increment = internal::fromVectorMQT(v);
53  updatedEstimate = _estimate * increment;
54  }
VertexSE3::EstimateType updatedEstimate
Isometry3D fromVectorMQT(const Vector6d &v)

Member Data Documentation

g2o::OnlineVertexSE3::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 40 of file types_slam3d_online.h.

VertexSE3::EstimateType g2o::OnlineVertexSE3::updatedEstimate

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