#include <optimizable_graph.h>

Inheritance diagram for g2o::OptimizableGraph::Edge:

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Collaboration diagram for g2o::OptimizableGraph::Edge:

[legend]

Public Member Functions
	Edge ()

virtual	~Edge ()

virtual Edge *	clone () const

virtual bool	allVerticesFixed () const =0

virtual void	computeError ()=0

virtual bool	setMeasurementData (const double *m)

virtual bool	getMeasurementData (double *m) const

virtual int	measurementDimension () const

virtual bool	setMeasurementFromState ()

RobustKernel *	robustKernel () const
	if NOT NULL, error of this edge will be robustifed with the kernel More...

void	setRobustKernel (RobustKernel *ptr)

virtual const double *	errorData () const =0
	returns the error vector cached after calling the computeError; More...

virtual double *	errorData ()=0

virtual const double *	informationData () const =0
	returns the memory of the information matrix, usable for example with a Eigen::Map<MatrixXD> More...

virtual double *	informationData ()=0

virtual double	chi2 () const =0
	computes the chi2 based on the cached error value, only valid after computeError has been called. More...

virtual void	constructQuadraticForm ()=0

virtual void	mapHessianMemory (double *d, int i, int j, bool rowMajor)=0

virtual void	linearizeOplus (JacobianWorkspace &jacobianWorkspace)=0

virtual void	initialEstimate (const OptimizableGraph::VertexSet &from, OptimizableGraph::Vertex *to)=0

virtual double	initialEstimatePossible (const OptimizableGraph::VertexSet &from, OptimizableGraph::Vertex *to)

int	level () const
	returns the level of the edge More...

void	setLevel (int l)
	sets the level of the edge More...

int	dimension () const
	returns the dimensions of the error function More...

	G2O_ATTRIBUTE_DEPRECATED (virtual Vertex *createFrom())

	G2O_ATTRIBUTE_DEPRECATED (virtual Vertex *createTo())

virtual Vertex *	createVertex (int)

virtual bool	read (std::istream &is)=0
	read the vertex from a stream, i.e., the internal state of the vertex More...

virtual bool	write (std::ostream &os) const =0
	write the vertex to a stream More...

long long	internalId () const
	the internal ID of the edge More...

OptimizableGraph *	graph ()

const OptimizableGraph *	graph () const

bool	setParameterId (int argNum, int paramId)

const Parameter *	parameter (int argNo) const

size_t	numParameters () const

void	resizeParameters (size_t newSize)

Public Member Functions inherited from g2o::HyperGraph::Edge
	Edge (int id=InvalidId)
	creates and empty edge with no vertices More...

virtual void	resize (size_t size)

const VertexContainer &	vertices () const

VertexContainer &	vertices ()

const Vertex *	vertex (size_t i) const

Vertex *	vertex (size_t i)

void	setVertex (size_t i, Vertex *v)

int	id () const

void	setId (int id)

virtual HyperGraphElementType	elementType () const

int	numUndefinedVertices () const

Public Member Functions inherited from g2o::HyperGraph::HyperGraphElement
virtual	~HyperGraphElement ()

HyperGraphElement *	clone () const

Public Member Functions inherited from g2o::HyperGraph::DataContainer
	DataContainer ()

virtual	~DataContainer ()

const Data *	userData () const
	the user data associated with this vertex More...

Data *	userData ()

void	setUserData (Data *obs)

void	addUserData (Data *obs)

Protected Member Functions
template<typename ParameterType >
bool	installParameter (ParameterType *&p, size_t argNo, int paramId=-1)

template<typename CacheType >
void	resolveCache (CacheType &cache, OptimizableGraph::Vertex , const std::string &_type, const ParameterVector &parameters)

bool	resolveParameters ()

virtual bool	resolveCaches ()

Protected Attributes
int	_dimension

int	_level

RobustKernel *	_robustKernel

long long	_internalId

std::vector< int >	_cacheIds

std::vector< std::string >	_parameterTypes

std::vector< Parameter ** >	_parameters

std::vector< int >	_parameterIds

Protected Attributes inherited from g2o::HyperGraph::Edge
VertexContainer	_vertices

int	_id
	unique id More...

Protected Attributes inherited from g2o::HyperGraph::DataContainer
Data *	_userData

Friends
struct	OptimizableGraph

Detailed Description

Definition at line 349 of file optimizable_graph.h.

Constructor & Destructor Documentation

g2o::OptimizableGraph::Edge::Edge ( )

Definition at line 120 of file optimizable_graph.cpp.

                              :
     HyperGraph::Edge(),
     _dimension(-1), _level(0), _robustKernel(0)
   {
   }

g2o::OptimizableGraph::Edge::~Edge ( )

virtual

Reimplemented from g2o::HyperGraph::Edge.

Definition at line 126 of file optimizable_graph.cpp.

References _robustKernel.

   {
     delete _robustKernel;
   }

Member Function Documentation

virtual bool g2o::OptimizableGraph::Edge::allVerticesFixed ( ) const

pure virtual

Referenced by g2o::SparseOptimizer::initializeOptimization(), and g2o::SparseOptimizer::updateInitialization().

virtual double g2o::OptimizableGraph::Edge::chi2 ( ) const

pure virtual

computes the chi2 based on the cached error value, only valid after computeError has been called.

Referenced by g2o::SparseOptimizer::activeChi2(), g2o::SparseOptimizer::activeRobustChi2(), g2o::activeVertexChi(), g2o::StructureOnlySolver< PointDoF >::calc(), g2o::OptimizableGraph::chi2(), gnudump_edges(), gnudump_features(), main(), and InvChi2CostFunction::operator()().

OptimizableGraph::Edge * g2o::OptimizableGraph::Edge::clone ( ) const

virtual

Definition at line 212 of file optimizable_graph.cpp.

Referenced by g2o::OptimizableGraph::addGraph().

   {
     // TODO
     return 0;
   }

virtual void g2o::OptimizableGraph::Edge::computeError ( )

pure virtual

Implemented in g2o::Edge_XYZ_VSC, g2o::EdgeSBAScale, g2o::EdgeSBACam, g2o::EdgeProjectP2MC_Intrinsics, EdgeObservationBAL, g2o::EdgeProjectP2SC, g2o::EdgeProjectXYZ2UVU, g2o::Edge_V_V_GICP, GPSObservationEdgePositionVelocity3D, g2o::EdgeProjectP2MC, g2o::EdgeProjectPSI2UV, g2o::EdgeProjectXYZ2UV, TargetOdometry3DEdge, g2o::EdgeSim3ProjectXYZ, g2o::EdgeSE3Expmap, EdgePointOnCircle, EdgePointOnCurve, g2o::EdgeSim3, GPSObservationPosition3DEdge, EdgeCalib, g2o::EdgeSE2XYPrior, g2o::EdgeSE2PureCalib, g2o::deprecated::EdgeSE3PointXYZDisparity, g2o::deprecated::EdgeSE3, g2o::EdgeSE2Segment2DPointLine, g2o::EdgeSE3PointXYZDisparity, g2o::deprecated::EdgeSE3PointXYZ, g2o::EdgeSE2PointXYOffset, g2o::EdgeSE3Line3D, g2o::deprecated::EdgeSE3Offset, g2o::deprecated::EdgeSE3PointXYZDepth, g2o::EdgeSE2Offset, g2o::EdgeSE2Segment2DLine, g2o::EdgeSE3Offset, g2o::EdgeSE3PointXYZ, g2o::tutorial::EdgeSE2PointXY, g2o::EdgeSE3PointXYZDepth, g2o::EdgeSE2Segment2D, g2o::EdgeSE3Prior, g2o::deprecated::EdgeSE3Prior, g2o::tutorial::EdgeSE2, g2o::EdgeSE3Calib, g2o::EdgeSE2, g2o::EdgeSE2PointXYCalib, g2o::EdgeSE3PlaneSensorCalib, g2o::EdgeSE2OdomDifferentialCalib, g2o::EdgeSE2SensorCalib, g2o::EdgeSE2Prior, g2o::EdgeLine2DPointXY, g2o::EdgeSE2Line2D, g2o::EdgeSE2PointXY, g2o::EdgeLine3D, g2o::EdgePlane, g2o::EdgePointXY, g2o::EdgeSE2PointXYBearing, g2o::EdgeLine2D, g2o::EdgePointXYZ, g2o::EdgeSE2LotsOfXY, g2o::EdgeSE3LotsOfXYZ, g2o::EdgeSE3, and g2o::EdgeSE2TwoPointsXY.

Referenced by g2o::StructureOnlySolver< PointDoF >::calc(), g2o::SparseOptimizer::computeActiveErrors(), gnudump_edges(), gnudump_features(), g2o::EdgeLabeler::labelEdge(), main(), InvChi2CostFunction::operator()(), g2o::SparseOptimizerOnline::optimize(), and g2o::SparseOptimizerIncremental::updateInitialization().

virtual void g2o::OptimizableGraph::Edge::constructQuadraticForm ( )

pure virtual

Linearizes the constraint in the edge. Makes side effect on the vertices of the graph by changing the parameter vector b and the hessian blocks ii and jj. The off diagoinal block is accesed via _hessian.

Referenced by g2o::BlockSolver< Traits >::buildSystem(), g2o::StructureOnlySolver< PointDoF >::calc(), g2o::SparseOptimizerOnline::optimize(), and g2o::SparseOptimizerIncremental::updateInitialization().

virtual Vertex* g2o::OptimizableGraph::Edge::createVertex ( int )

inlinevirtual

Definition at line 444 of file optimizable_graph.h.

Referenced by g2o::OptimizableGraph::setFixed().

444 {return 0;}

int g2o::OptimizableGraph::Edge::dimension ( ) const

inline

returns the dimensions of the error function

Definition at line 440 of file optimizable_graph.h.

Referenced by g2o::BlockSolver< Traits >::buildSystem(), g2o::SparseOptimizer::computeActiveErrors(), g2o::SparseOptimizer::gaugeFreedom(), g2o::EdgeLabeler::labelEdge(), g2o::JacobianWorkspace::updateSize(), and g2o::OptimizableGraph::verifyInformationMatrices().

440 { return _dimension;}

g2o::OptimizableGraph::Edge::_dimension

int _dimension

Definition: optimizable_graph.h:466

virtual const double* g2o::OptimizableGraph::Edge::errorData ( ) const

pure virtual

g2o::OptimizableGraph::Edge::G2O_ATTRIBUTE_DEPRECATED ( virtual Vertex * createFrom() )

inline

Definition at line 442 of file optimizable_graph.h.

442 {return 0;}

g2o::OptimizableGraph::Edge::G2O_ATTRIBUTE_DEPRECATED ( virtual Vertex * createTo() )

inline

Definition at line 443 of file optimizable_graph.h.

443 {return 0;}

bool g2o::OptimizableGraph::Edge::getMeasurementData ( double * m ) const

virtual

writes the measurement to an array of double

Returns: true on success

Reimplemented in g2o::EdgeSBACam, g2o::deprecated::EdgeSE3, g2o::EdgeSE2Segment2DPointLine, g2o::EdgeSE2Segment2DLine, g2o::deprecated::EdgeSE3PointXYZDisparity, g2o::EdgeSE3PointXYZDisparity, g2o::EdgeSE3Line3D, g2o::deprecated::EdgeSE3Offset, g2o::EdgeSE2Offset, g2o::deprecated::EdgeSE3PointXYZ, g2o::EdgeSE2, g2o::EdgeSE2PointXYOffset, g2o::EdgeSE2Segment2D, g2o::deprecated::EdgeSE3PointXYZDepth, g2o::EdgeLine2D, g2o::EdgeSE3PointXYZ, g2o::EdgeSE3Prior, g2o::deprecated::EdgeSE3Prior, g2o::EdgeSE2Line2D, g2o::EdgeSE3PointXYZDepth, g2o::EdgeSE2Prior, g2o::EdgeLine3D, g2o::EdgePlane, g2o::EdgePointXY, g2o::EdgePointXYZ, g2o::EdgeLine2DPointXY, g2o::EdgeSE2PointXY, g2o::EdgeSE2PointXYBearing, g2o::EdgeSE2XYPrior, and g2o::EdgeSE3.

Definition at line 197 of file optimizable_graph.cpp.

   {
     return false;
   }

OptimizableGraph * g2o::OptimizableGraph::Edge::graph ( )

Definition at line 131 of file optimizable_graph.cpp.

References g2o::HyperGraph::Edge::_vertices, and g2o::OptimizableGraph::Vertex::graph().

Referenced by resolveParameters().

                                                {
     if (! _vertices.size())
       return 0;
     OptimizableGraph::Vertex* v=(OptimizableGraph::Vertex*)_vertices[0];
     if (!v)
       return 0;
     return v->graph();
   }

const OptimizableGraph * g2o::OptimizableGraph::Edge::graph ( ) const

Definition at line 140 of file optimizable_graph.cpp.

References g2o::HyperGraph::Edge::_vertices, and g2o::OptimizableGraph::Vertex::graph().

                                                            {
     if (! _vertices.size())
       return 0;
     const OptimizableGraph::Vertex* v=(const OptimizableGraph::Vertex*) _vertices[0];
     if (!v)
       return 0;
     return v->graph();
   }

virtual const double* g2o::OptimizableGraph::Edge::informationData ( ) const

pure virtual

returns the memory of the information matrix, usable for example with a Eigen::Map<MatrixXD>

Referenced by g2o::EdgeLabeler::labelEdge(), and g2o::OptimizableGraph::verifyInformationMatrices().

virtual void g2o::OptimizableGraph::Edge::initialEstimate	(	const OptimizableGraph::VertexSet &	from,
		OptimizableGraph::Vertex *	to
	)

pure virtual

set the estimate of the to vertex, based on the estimate of the from vertices in the edge.

Referenced by g2o::SparseOptimizer::computeInitialGuess(), g2o::EstimatePropagator::PropagateAction::operator()(), and g2o::OptimizableGraph::setFixed().

virtual double g2o::OptimizableGraph::Edge::initialEstimatePossible	(	const OptimizableGraph::VertexSet &	from,
		OptimizableGraph::Vertex *	to
	)

inlinevirtual

override in your class if it's possible to initialize the vertices in certain combinations. The return value may correspond to the cost for initiliaizng the vertex but should be positive if the initialization is possible and negative if not possible.

Reimplemented in g2o::EdgeSBAScale, g2o::EdgeSBACam, TargetOdometry3DEdge, g2o::EdgeSim3, g2o::deprecated::EdgeSE3, g2o::EdgeSE2Line2D, g2o::EdgeSE2Segment2D, g2o::EdgeSE2, g2o::EdgeLine2D, g2o::EdgePlane, g2o::deprecated::EdgeSE3Offset, g2o::deprecated::EdgeSE3PointXYZDisparity, g2o::EdgeSE3PointXYZDisparity, g2o::EdgeLine3D, g2o::EdgeSE2Offset, g2o::deprecated::EdgeSE3PointXYZ, g2o::EdgePointXY, g2o::EdgeSE2PointXYOffset, g2o::EdgePointXYZ, g2o::deprecated::EdgeSE3PointXYZDepth, g2o::EdgeSE2PointXY, g2o::EdgeSE3PointXYZ, g2o::EdgeSE3Prior, g2o::deprecated::EdgeSE3Prior, g2o::EdgeSE2PointXYBearing, g2o::EdgeSE3PointXYZDepth, g2o::EdgeSE2Prior, g2o::EdgeSE2SensorCalib, g2o::EdgeSE3Offset, g2o::EdgeSE2PointXYCalib, g2o::EdgeSE3, g2o::EdgeSE2LotsOfXY, g2o::EdgeSE3LotsOfXYZ, and g2o::EdgeSE2TwoPointsXY.

Definition at line 432 of file optimizable_graph.h.

Referenced by g2o::SparseOptimizer::computeInitialGuess(), g2o::EstimatePropagatorCost::operator()(), and g2o::EstimatePropagatorCostOdometry::operator()().

432 { (void) from; (void) to; return -1.;}

template<typename ParameterType >

bool g2o::OptimizableGraph::Edge::installParameter	(	ParameterType *&	p,
		size_t	argNo,
		int	paramId = `-1`
	)

inlineprotected

Definition at line 473 of file optimizable_graph.h.

Referenced by g2o::EdgeProjectXYZ2UV::EdgeProjectXYZ2UV(), g2o::EdgeProjectXYZ2UVU::EdgeProjectXYZ2UVU(), g2o::EdgeSE2Offset::EdgeSE2Offset(), g2o::tutorial::EdgeSE2PointXY::EdgeSE2PointXY(), g2o::EdgeSE2PointXYOffset::EdgeSE2PointXYOffset(), g2o::EdgeSE3Line3D::EdgeSE3Line3D(), g2o::deprecated::EdgeSE3Offset::EdgeSE3Offset(), g2o::EdgeSE3Offset::EdgeSE3Offset(), g2o::EdgeSE3PointXYZ::EdgeSE3PointXYZ(), g2o::deprecated::EdgeSE3PointXYZ::EdgeSE3PointXYZ(), g2o::EdgeSE3PointXYZDepth::EdgeSE3PointXYZDepth(), g2o::deprecated::EdgeSE3PointXYZDepth::EdgeSE3PointXYZDepth(), g2o::EdgeSE3PointXYZDisparity::EdgeSE3PointXYZDisparity(), g2o::deprecated::EdgeSE3PointXYZDisparity::EdgeSE3PointXYZDisparity(), g2o::deprecated::EdgeSE3Prior::EdgeSE3Prior(), and g2o::EdgeSE3Prior::EdgeSE3Prior().

                                                                                 {
             if (argNo>=_parameters.size())
               return false;
             _parameterIds[argNo] = paramId;
             _parameters[argNo] = (Parameter**)&p;
             _parameterTypes[argNo] = typeid(ParameterType).name();
             return true;
           }

long long g2o::OptimizableGraph::Edge::internalId ( ) const

inline

the internal ID of the edge

Definition at line 452 of file optimizable_graph.h.

References graph.

Referenced by g2o::OptimizableGraph::EdgeIDCompare::operator()().

452 { return _internalId;}

g2o::OptimizableGraph::Edge::_internalId

long long _internalId

Definition: optimizable_graph.h:469

int g2o::OptimizableGraph::Edge::level ( ) const

inline

returns the level of the edge

Definition at line 435 of file optimizable_graph.h.

Referenced by g2o::BackBoneTreeAction::init(), main(), g2o::EdgeTypesCostFunction::operator()(), and g2o::OptimizableGraph::save().

435 { return _level;}

g2o::OptimizableGraph::Edge::_level

int _level

Definition: optimizable_graph.h:467

virtual void g2o::OptimizableGraph::Edge::linearizeOplus ( JacobianWorkspace & jacobianWorkspace )

pure virtual

Linearizes the constraint in the edge in the manifold space, and store the result in the given workspace

Referenced by g2o::BlockSolver< Traits >::buildSystem(), g2o::StructureOnlySolver< PointDoF >::calc(), g2o::SparseOptimizerOnline::optimize(), and g2o::SparseOptimizerIncremental::updateInitialization().

virtual void g2o::OptimizableGraph::Edge::mapHessianMemory	(	double *	d,
		int	i,
		int	j,
		bool	rowMajor
	)

pure virtual

maps the internal matrix to some external memory location, you need to provide the memory before calling constructQuadraticForm

Parameters

d	the memory location to which we map
i	index of the vertex i
j	index of the vertex j (j > i, upper triangular fashion)
rowMajor	if true, will write in rowMajor order to the block. Since EIGEN is columnMajor by default, this results in writing the transposed

Referenced by g2o::BlockSolver< Traits >::buildStructure(), g2o::SparseOptimizerIncremental::updateInitialization(), and g2o::BlockSolver< Traits >::updateStructure().

int g2o::OptimizableGraph::Edge::measurementDimension ( ) const

virtual

returns the dimension of the measurement in the extended representation which is used by get/setMeasurement;

Reimplemented in g2o::EdgeSBACam, g2o::deprecated::EdgeSE3, g2o::EdgeSE2Segment2DPointLine, g2o::EdgeSE2Segment2DLine, g2o::deprecated::EdgeSE3Offset, g2o::deprecated::EdgeSE3PointXYZDisparity, g2o::EdgeSE2, g2o::EdgeSE3PointXYZDisparity, g2o::EdgeSE3Line3D, g2o::EdgeSE2Offset, g2o::deprecated::EdgeSE3PointXYZ, g2o::EdgeSE2PointXYOffset, g2o::EdgeSE2Segment2D, g2o::deprecated::EdgeSE3PointXYZDepth, g2o::EdgeLine2D, g2o::EdgeSE3PointXYZ, g2o::EdgeSE3Prior, g2o::deprecated::EdgeSE3Prior, g2o::EdgeSE2Line2D, g2o::EdgeSE3PointXYZDepth, g2o::EdgeSE2Prior, g2o::EdgeLine3D, g2o::EdgePlane, g2o::EdgePointXY, g2o::EdgePointXYZ, g2o::EdgeLine2DPointXY, g2o::EdgeSE2PointXY, g2o::EdgeSE2PointXYBearing, g2o::EdgeSE2XYPrior, and g2o::EdgeSE3.

Definition at line 202 of file optimizable_graph.cpp.

   {
     return -1;
   }

size_t g2o::OptimizableGraph::Edge::numParameters ( ) const

inline

Definition at line 459 of file optimizable_graph.h.

Referenced by g2o::EdgeCreator::createEdge().

459 {return _parameters.size();}

g2o::OptimizableGraph::Edge::_parameters

std::vector< Parameter ** > _parameters

Definition: optimizable_graph.h:491

const Parameter* g2o::OptimizableGraph::Edge::parameter ( int argNo ) const

inline

Definition at line 458 of file optimizable_graph.h.

Referenced by g2o::EdgeProjectPSI2UV::computeError(), g2o::EdgeProjectXYZ2UV::linearizeOplus(), g2o::EdgeProjectPSI2UV::linearizeOplus(), and g2o::EdgeSE3Offset::write().

458 {return *_parameters.at(argNo);}

g2o::OptimizableGraph::Edge::_parameters

std::vector< Parameter ** > _parameters

Definition: optimizable_graph.h:491

virtual bool g2o::OptimizableGraph::Edge::read ( std::istream & is )

pure virtual

read the vertex from a stream, i.e., the internal state of the vertex

Implemented in g2o::Edge_XYZ_VSC, g2o::EdgeSBAScale, g2o::EdgeSBACam, g2o::EdgeProjectP2MC_Intrinsics, g2o::EdgeProjectP2SC, g2o::EdgeProjectXYZ2UVU, GPSObservationEdgePositionVelocity3D, g2o::Edge_V_V_GICP, g2o::EdgeProjectPSI2UV, g2o::EdgeProjectP2MC, EdgeObservationBAL, TargetOdometry3DEdge, g2o::EdgeProjectXYZ2UV, g2o::EdgeSim3ProjectXYZ, g2o::EdgeSE3Expmap, EdgePointOnCircle, g2o::EdgeSE2Segment2DPointLine, EdgeCalib, g2o::EdgeSE2Segment2DLine, EdgePointOnCurve, g2o::EdgeSim3, GPSObservationPosition3DEdge, g2o::deprecated::EdgeSE3, g2o::EdgeSE2Line2D, g2o::EdgeSE2Segment2D, g2o::EdgeLine2DPointXY, g2o::EdgeSE2PointXY, g2o::EdgeSE2PointXYBearing, g2o::EdgeSE2SensorCalib, g2o::EdgeSE2Prior, g2o::EdgeSE2OdomDifferentialCalib, g2o::EdgeSE2XYPrior, g2o::EdgeSE3PlaneSensorCalib, g2o::tutorial::EdgeSE2, g2o::EdgeSE2PureCalib, g2o::EdgeSE2PointXYCalib, g2o::EdgeSE2, g2o::tutorial::EdgeSE2PointXY, g2o::deprecated::EdgeSE3PointXYZDisparity, g2o::EdgeLine3D, g2o::EdgePlane, g2o::EdgePointXY, g2o::EdgeLine2D, g2o::EdgePointXYZ, g2o::EdgeSE3PointXYZDisparity, g2o::EdgeSE3Line3D, g2o::deprecated::EdgeSE3Offset, g2o::deprecated::EdgeSE3PointXYZ, g2o::EdgeSE2Offset, g2o::EdgeSE2PointXYOffset, g2o::EdgeSE3Offset, g2o::EdgeSE3Calib, g2o::deprecated::EdgeSE3PointXYZDepth, g2o::EdgeSE3PointXYZ, g2o::EdgeSE3PointXYZDepth, g2o::EdgeSE3Prior, g2o::EdgeSE3Euler, g2o::deprecated::EdgeSE3Prior, g2o::EdgeSE2LotsOfXY, g2o::EdgeSE3LotsOfXYZ, g2o::EdgeSE3, and g2o::EdgeSE2TwoPointsXY.

Referenced by g2o::OptimizableGraph::setFixed().

void g2o::OptimizableGraph::Edge::resizeParameters ( size_t newSize )

inline

Definition at line 460 of file optimizable_graph.h.

Referenced by g2o::EdgeProjectXYZ2UV::EdgeProjectXYZ2UV(), g2o::EdgeProjectXYZ2UVU::EdgeProjectXYZ2UVU(), g2o::EdgeSE2Offset::EdgeSE2Offset(), g2o::tutorial::EdgeSE2PointXY::EdgeSE2PointXY(), g2o::EdgeSE2PointXYOffset::EdgeSE2PointXYOffset(), g2o::EdgeSE3Line3D::EdgeSE3Line3D(), g2o::deprecated::EdgeSE3Offset::EdgeSE3Offset(), g2o::EdgeSE3Offset::EdgeSE3Offset(), g2o::EdgeSE3PointXYZ::EdgeSE3PointXYZ(), g2o::deprecated::EdgeSE3PointXYZ::EdgeSE3PointXYZ(), g2o::EdgeSE3PointXYZDepth::EdgeSE3PointXYZDepth(), g2o::deprecated::EdgeSE3PointXYZDepth::EdgeSE3PointXYZDepth(), g2o::EdgeSE3PointXYZDisparity::EdgeSE3PointXYZDisparity(), g2o::deprecated::EdgeSE3PointXYZDisparity::EdgeSE3PointXYZDisparity(), g2o::deprecated::EdgeSE3Prior::EdgeSE3Prior(), and g2o::EdgeSE3Prior::EdgeSE3Prior().

                                                      {
           _parameters.resize(newSize, 0);
           _parameterIds.resize(newSize, -1);
           _parameterTypes.resize(newSize, typeid(void*).name());
         }

template<typename CacheType >

void g2o::OptimizableGraph::Edge::resolveCache	(	CacheType *&	cache,
		OptimizableGraph::Vertex *	v,
		const std::string &	_type,
		const ParameterVector &	parameters
	)

protected

Definition at line 122 of file cache.h.

References g2o::OptimizableGraph::Vertex::cacheContainer(), g2o::CacheContainer::createCache(), and g2o::CacheContainer::findCache().

   {
     cache = 0;
     CacheContainer* container= v->cacheContainer();
     Cache::CacheKey key(type_, parameters_);
     Cache* c = container->findCache(key);
     if (!c) {
       c = container->createCache(key);
     }
     if (c) {
       cache = dynamic_cast<CacheType*>(c); 
     }
   }

bool g2o::OptimizableGraph::Edge::resolveCaches ( )

protectedvirtual

Reimplemented in g2o::deprecated::EdgeSE3PointXYZDisparity, g2o::EdgeSE3PointXYZDisparity, g2o::deprecated::EdgeSE3Offset, g2o::deprecated::EdgeSE3PointXYZ, g2o::EdgeSE3PointXYZ, g2o::EdgeSE2PointXYOffset, g2o::deprecated::EdgeSE3PointXYZDepth, g2o::EdgeSE2Offset, g2o::EdgeSE3PointXYZDepth, g2o::EdgeSE3Prior, g2o::deprecated::EdgeSE3Prior, g2o::EdgeSE3Line3D, g2o::EdgeSE3Offset, and g2o::tutorial::EdgeSE2PointXY.

Definition at line 188 of file optimizable_graph.cpp.

Referenced by g2o::OptimizableGraph::addEdge(), and g2o::OptimizableGraph::setEdgeVertex().

                                            {
     return true;
   }

bool g2o::OptimizableGraph::Edge::resolveParameters ( )

protected

Definition at line 159 of file optimizable_graph.cpp.

References __PRETTY_FUNCTION__, _parameterIds, _parameters, _parameterTypes, graph(), and g2o::OptimizableGraph::parameter().

Referenced by g2o::OptimizableGraph::addEdge(), and g2o::OptimizableGraph::setEdgeVertex().

                                                {
     if (!graph()) {
       cerr << __PRETTY_FUNCTION__ << ": edge not registered with a graph" << endl;
       return false;
     }
 
     assert (_parameters.size() == _parameterIds.size());
     //cerr << __PRETTY_FUNCTION__ << ": encountered " << _parameters.size() << " parameters" << endl;
     for (size_t i=0; i<_parameters.size(); i++){
       int index = _parameterIds[i];
       *_parameters[i] = graph()->parameter(index);
       if (typeid(**_parameters[i]).name()!=_parameterTypes[i]){
         cerr << __PRETTY_FUNCTION__ << ": FATAL, parameter type mismatch - encountered " << typeid(**_parameters[i]).name() << "; should be " << _parameterTypes[i] << endl;
       }
       if (!*_parameters[i]) {
         cerr << __PRETTY_FUNCTION__ << ": FATAL, *_parameters[i] == 0" << endl;
         return false;
       }
     }
     return true;
   }

RobustKernel* g2o::OptimizableGraph::Edge::robustKernel ( ) const

inline

if NOT NULL, error of this edge will be robustifed with the kernel

Definition at line 383 of file optimizable_graph.h.

Referenced by g2o::SparseOptimizer::activeRobustChi2(), gnudump_edges(), gnudump_features(), main(), InvChi2CostFunction::operator()(), and MainWindow::setRobustKernel().

383 { return _robustKernel;}

g2o::OptimizableGraph::Edge::_robustKernel

RobustKernel * _robustKernel

Definition: optimizable_graph.h:468

void g2o::OptimizableGraph::Edge::setLevel ( int l )

inline

sets the level of the edge

Definition at line 437 of file optimizable_graph.h.

Referenced by g2o::assignHierarchicalEdges(), and g2o::computeSimpleStars().

437 { _level=l;}

g2o::OptimizableGraph::Edge::_level

int _level

Definition: optimizable_graph.h:467

bool g2o::OptimizableGraph::Edge::setMeasurementData ( const double * m )

virtual

sets the measurement from an array of double

Returns: true on success

Reimplemented in g2o::EdgeSBACam, g2o::deprecated::EdgeSE3, g2o::EdgeSE2Segment2DPointLine, g2o::EdgeSE2Segment2DLine, g2o::deprecated::EdgeSE3PointXYZDisparity, g2o::EdgeSE3PointXYZDisparity, g2o::EdgeSE3Line3D, g2o::deprecated::EdgeSE3Offset, g2o::deprecated::EdgeSE3PointXYZ, g2o::EdgeSE2, g2o::EdgeSE2Offset, g2o::EdgeSE2PointXYOffset, g2o::EdgeSE2Prior, g2o::EdgeSE2Segment2D, g2o::deprecated::EdgeSE3PointXYZDepth, g2o::EdgeLine2D, g2o::EdgeSE3PointXYZ, g2o::EdgeSE2Line2D, g2o::EdgeSE3PointXYZDepth, g2o::EdgeSE3Prior, g2o::deprecated::EdgeSE3Prior, g2o::EdgeLine3D, g2o::EdgePlane, g2o::EdgePointXY, g2o::EdgePointXYZ, g2o::EdgeLine2DPointXY, g2o::EdgeSE2PointXYBearing, g2o::EdgeSE2PointXY, g2o::EdgeSE2XYPrior, and g2o::EdgeSE3.

Definition at line 192 of file optimizable_graph.cpp.

   {
     return false;
   }

bool g2o::OptimizableGraph::Edge::setMeasurementFromState ( )

virtual

sets the estimate to have a zero error, based on the current value of the state variables returns false if not supported.

Reimplemented in g2o::EdgeSBACam, g2o::deprecated::EdgeSE3, g2o::EdgeSE2Segment2DPointLine, g2o::EdgeSE2Segment2DLine, g2o::deprecated::EdgeSE3Offset, g2o::deprecated::EdgeSE3PointXYZDisparity, g2o::EdgeSE2, g2o::EdgeSE3PointXYZDisparity, g2o::EdgeSE2Offset, g2o::deprecated::EdgeSE3PointXYZ, g2o::EdgeSE2PointXYOffset, g2o::EdgeSE2Segment2D, g2o::deprecated::EdgeSE3PointXYZDepth, g2o::EdgeLine2D, g2o::EdgeSE3PointXYZ, g2o::EdgeSE3Prior, g2o::deprecated::EdgeSE3Prior, g2o::EdgeSE2Line2D, g2o::EdgeSE3PointXYZDepth, g2o::EdgeLine3D, g2o::EdgePlane, g2o::EdgePointXY, g2o::EdgePointXYZ, g2o::EdgeLine2DPointXY, g2o::EdgeSE2PointXY, g2o::EdgeSE2PointXYBearing, g2o::EdgeSE3Offset, g2o::EdgeSE3, g2o::EdgeSE2LotsOfXY, g2o::EdgeSE3LotsOfXYZ, and g2o::EdgeSE2TwoPointsXY.

Definition at line 207 of file optimizable_graph.cpp.

Referenced by g2o::EdgeLabeler::labelEdge().

                                                     {
     return false;
   }

bool g2o::OptimizableGraph::Edge::setParameterId	(	int	argNum,
		int	paramId
	)

Definition at line 149 of file optimizable_graph.cpp.

References _parameterIds, and _parameters.

Referenced by g2o::EdgeCreator::createEdge(), main(), Robot::move(), g2o::deprecated::EdgeSE3Prior::read(), g2o::EdgeSE3Prior::read(), g2o::EdgeSE3PointXYZDepth::read(), g2o::EdgeSE3PointXYZ::read(), g2o::deprecated::EdgeSE3PointXYZDepth::read(), g2o::deprecated::EdgeSE3Offset::read(), g2o::EdgeSE2Offset::read(), g2o::deprecated::EdgeSE3PointXYZ::read(), g2o::EdgeSE2PointXYOffset::read(), g2o::EdgeSE3Offset::read(), g2o::EdgeSE3Line3D::read(), g2o::EdgeSE3PointXYZDisparity::read(), g2o::deprecated::EdgeSE3PointXYZDisparity::read(), g2o::tutorial::EdgeSE2PointXY::read(), g2o::EdgeProjectXYZ2UV::read(), g2o::EdgeProjectPSI2UV::read(), g2o::SensorPose3DOffset::sense(), g2o::SensorPointXYZ::sense(), g2o::SensorPointXYZDepth::sense(), g2o::SensorSE3Prior::sense(), g2o::SensorPointXYZDisparity::sense(), and g2o::SensorPointXYOffset::sense().

                                                                   {
     if ((int)_parameters.size()<=argNum)
       return false;
     if (argNum<0)
       return false;
     *_parameters[argNum] = 0;
     _parameterIds[argNum] = paramId;
     return true;
   }

void g2o::OptimizableGraph::Edge::setRobustKernel ( RobustKernel * ptr )

specify the robust kernel to be used in this edge

Definition at line 181 of file optimizable_graph.cpp.

References _robustKernel.

Referenced by main(), and MainWindow::setRobustKernel().

   {
     if (_robustKernel)
       delete _robustKernel;
     _robustKernel = ptr;
   }

virtual bool g2o::OptimizableGraph::Edge::write ( std::ostream & os ) const

pure virtual

write the vertex to a stream

Implemented in g2o::Edge_XYZ_VSC, g2o::EdgeSBAScale, g2o::EdgeSBACam, g2o::EdgeProjectP2MC_Intrinsics, g2o::EdgeProjectP2SC, g2o::EdgeProjectXYZ2UVU, GPSObservationEdgePositionVelocity3D, g2o::Edge_V_V_GICP, EdgeObservationBAL, g2o::EdgeProjectPSI2UV, g2o::EdgeProjectP2MC, TargetOdometry3DEdge, g2o::EdgeProjectXYZ2UV, g2o::EdgeSim3ProjectXYZ, g2o::EdgeSE3Expmap, EdgePointOnCircle, g2o::EdgeSE2Segment2DPointLine, EdgeCalib, EdgePointOnCurve, g2o::EdgeSE2Segment2DLine, GPSObservationPosition3DEdge, g2o::EdgeSim3, g2o::deprecated::EdgeSE3, g2o::EdgeSE2Line2D, g2o::EdgeSE2Segment2D, g2o::EdgeLine2DPointXY, g2o::EdgeSE2PointXY, g2o::EdgeSE2PointXYBearing, g2o::EdgeSE2SensorCalib, g2o::EdgeSE2Prior, g2o::EdgeSE2OdomDifferentialCalib, g2o::EdgeSE2XYPrior, g2o::EdgeSE3PlaneSensorCalib, g2o::tutorial::EdgeSE2, g2o::EdgeSE2PureCalib, g2o::EdgeSE2PointXYCalib, g2o::EdgeSE2, g2o::tutorial::EdgeSE2PointXY, g2o::deprecated::EdgeSE3PointXYZDisparity, g2o::EdgeLine3D, g2o::EdgePlane, g2o::EdgePointXY, g2o::EdgeLine2D, g2o::EdgePointXYZ, g2o::EdgeSE3PointXYZDisparity, g2o::EdgeSE3Line3D, g2o::deprecated::EdgeSE3Offset, g2o::deprecated::EdgeSE3PointXYZ, g2o::EdgeSE2Offset, g2o::EdgeSE2PointXYOffset, g2o::EdgeSE3Offset, g2o::EdgeSE3Calib, g2o::deprecated::EdgeSE3PointXYZDepth, g2o::EdgeSE3PointXYZ, g2o::EdgeSE3PointXYZDepth, g2o::EdgeSE3Prior, g2o::EdgeSE3Euler, g2o::deprecated::EdgeSE3Prior, g2o::EdgeSE2LotsOfXY, g2o::EdgeSE3LotsOfXYZ, g2o::EdgeSE3, and g2o::EdgeSE2TwoPointsXY.

Referenced by g2o::OptimizableGraph::saveEdge().

Friends And Related Function Documentation

friend struct OptimizableGraph

friend

Definition at line 351 of file optimizable_graph.h.

Member Data Documentation

std::vector<int> g2o::OptimizableGraph::Edge::_cacheIds

protected

Definition at line 470 of file optimizable_graph.h.

int g2o::OptimizableGraph::Edge::_dimension

protected

Definition at line 466 of file optimizable_graph.h.

Referenced by g2o::BaseEdge< D, Eigen::Vector2d >::BaseEdge(), g2o::BaseEdge< D, Eigen::Vector2d >::rank(), and g2o::BaseEdge<-1, E >::rank().

long long g2o::OptimizableGraph::Edge::_internalId

protected

Definition at line 469 of file optimizable_graph.h.

Referenced by g2o::OptimizableGraph::addEdge().

int g2o::OptimizableGraph::Edge::_level

protected

Definition at line 467 of file optimizable_graph.h.

std::vector<int> g2o::OptimizableGraph::Edge::_parameterIds

protected

Definition at line 492 of file optimizable_graph.h.

Referenced by resolveParameters(), and setParameterId().

std::vector<Parameter**> g2o::OptimizableGraph::Edge::_parameters

protected

Definition at line 491 of file optimizable_graph.h.

Referenced by g2o::OptimizableGraph::clearParameters(), resolveParameters(), g2o::OptimizableGraph::save(), g2o::OptimizableGraph::setFixed(), and setParameterId().

std::vector<std::string> g2o::OptimizableGraph::Edge::_parameterTypes

protected

Definition at line 490 of file optimizable_graph.h.

Referenced by resolveParameters().

RobustKernel* g2o::OptimizableGraph::Edge::_robustKernel

protected

Definition at line 468 of file optimizable_graph.h.

Referenced by setRobustKernel(), and ~Edge().

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

/home/xuezhisd/CLionProjects/g2o/g2o/core/optimizable_graph.h
/home/xuezhisd/CLionProjects/g2o/g2o/core/cache.h
/home/xuezhisd/CLionProjects/g2o/g2o/core/optimizable_graph.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation