A general case Vertex for optimization. More...

#include <optimizable_graph.h>

Inheritance diagram for g2o::OptimizableGraph::Vertex:

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Collaboration diagram for g2o::OptimizableGraph::Vertex:

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Public Member Functions
	Vertex ()

virtual Vertex *	clone () 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...

virtual const double &	hessian (int i, int j) const =0
	get the element from the hessian matrix More...

virtual double &	hessian (int i, int j)=0

virtual double	hessianDeterminant () const =0

virtual double *	hessianData ()=0

virtual void	mapHessianMemory (double *d)=0

virtual int	copyB (double *b_) const =0

virtual const double &	b (int i) const =0
	get the b vector element More...

virtual double &	b (int i)=0

virtual double *	bData ()=0
	return a pointer to the b vector associated with this vertex More...

virtual void	clearQuadraticForm ()=0

virtual double	solveDirect (double lambda=0)=0

bool	setEstimateData (const double *estimate)

bool	setEstimateData (const std::vector< double > &estimate)

virtual bool	getEstimateData (double *estimate) const

virtual bool	getEstimateData (std::vector< double > &estimate) const

virtual int	estimateDimension () const

bool	setMinimalEstimateData (const double *estimate)

bool	setMinimalEstimateData (const std::vector< double > &estimate)

virtual bool	getMinimalEstimateData (double *estimate) const

virtual bool	getMinimalEstimateData (std::vector< double > &estimate) const

virtual int	minimalEstimateDimension () const

virtual void	push ()=0
	backup the position of the vertex to a stack More...

virtual void	pop ()=0
	restore the position of the vertex by retrieving the position from the stack More...

virtual void	discardTop ()=0
	pop the last element from the stack, without restoring the current estimate More...

virtual int	stackSize () const =0
	return the stack size More...

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 OptimizableGraph *	graph () const

OptimizableGraph *	graph ()

void	lockQuadraticForm ()

void	unlockQuadraticForm ()

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...

virtual void	updateCache ()

CacheContainer *	cacheContainer ()

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 EdgeSet &	edges () const
	returns the set of hyper-edges that are leaving/entering in this vertex More...

EdgeSet &	edges ()
	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 ()

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
virtual void	oplusImpl (const double *v)=0

virtual void	setToOriginImpl ()=0
	sets the node to the origin (used in the multilevel stuff) More...

virtual bool	setEstimateDataImpl (const double *)

virtual bool	setMinimalEstimateDataImpl (const double *)

Protected Attributes
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

Friends
struct	OptimizableGraph

Detailed Description

A general case Vertex for optimization.

Definition at line 107 of file optimizable_graph.h.

Constructor & Destructor Documentation

g2o::OptimizableGraph::Vertex::Vertex ( )

Definition at line 53 of file optimizable_graph.cpp.

                                  :
     HyperGraph::Vertex(),
     _graph(0), _userData(0), _hessianIndex(-1), _fixed(false), _marginalized(false),
     _colInHessian(-1), _cacheContainer(0)
   {
   }

g2o::OptimizableGraph::Vertex::~Vertex ( )

virtual

Reimplemented from g2o::HyperGraph::Vertex.

Definition at line 74 of file optimizable_graph.cpp.

References _cacheContainer, and _userData.

   {
     delete _cacheContainer;
     delete _userData;
   }

Member Function Documentation

virtual const double& g2o::OptimizableGraph::Vertex::b ( int i ) const

pure virtual

get the b vector element

virtual double& g2o::OptimizableGraph::Vertex::b ( int i )

pure virtual

virtual double* g2o::OptimizableGraph::Vertex::bData ( )

pure virtual

return a pointer to the b vector associated with this vertex

Referenced by g2o::StructureOnlySolver< PointDoF >::calc().

CacheContainer * g2o::OptimizableGraph::Vertex::cacheContainer ( )

Definition at line 60 of file optimizable_graph.cpp.

References _cacheContainer.

Referenced by g2o::VertexPointXYWriteGnuplotAction::operator()(), g2o::VertexSE2WriteGnuplotAction::operator()(), g2o::deprecated::VertexSE3WriteGnuplotAction::operator()(), g2o::VertexSE3WriteGnuplotAction::operator()(), g2o::OptimizableGraph::Edge::resolveCache(), and g2o::VertexPointXYZ::write().

                                                         {
     if (! _cacheContainer)
       _cacheContainer = new CacheContainer(this);
     return _cacheContainer;
   }

virtual void g2o::OptimizableGraph::Vertex::clearQuadraticForm ( )

pure virtual

set the b vector part of this vertex to zero

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

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

virtual

returns a deep copy of the current vertex

Definition at line 80 of file optimizable_graph.cpp.

Referenced by g2o::OptimizableGraph::addGraph(), and main().

   {
     return 0;
   }

int g2o::OptimizableGraph::Vertex::colInHessian ( ) const

inline

get the row of this vertex in the Hessian

Definition at line 291 of file optimizable_graph.h.

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

291 {return _colInHessian;}

g2o::OptimizableGraph::Vertex::_colInHessian

int _colInHessian

Definition: optimizable_graph.h:321

virtual int g2o::OptimizableGraph::Vertex::copyB ( double * b_ ) const

pure virtual

copies the b vector in the array b_

Returns: the number of elements copied

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

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

inline

dimension of the estimated state belonging to this node

Definition at line 283 of file optimizable_graph.h.

Referenced by g2o::BlockSolver< Traits >::buildStructure(), g2o::BlockSolver< Traits >::buildSystem(), g2o::StructureOnlySolver< PointDoF >::calc(), g2o::OptimizationAlgorithmLevenberg::computeLambdaInit(), g2o::computeSimpleStars(), g2o::OptimizableGraph::dimensions(), g2o::edgeAllVertsSameDim(), g2o::SparseOptimizer::findGauge(), g2o::SparseOptimizer::gaugeFreedom(), main(), g2o::OptimizableGraph::maxDimension(), g2o::SparseOptimizer::optimize(), MainWindow::prepare(), g2o::G2oSlamInterface::printVertex(), g2o::saveGnuplot(), g2o::SparseOptimizerIncremental::updateInitialization(), g2o::JacobianWorkspace::updateSize(), and g2o::BlockSolver< Traits >::updateStructure().

283 { return _dimension;}

g2o::OptimizableGraph::Vertex::_dimension

int _dimension

Definition: optimizable_graph.h:320

virtual void g2o::OptimizableGraph::Vertex::discardTop ( )

pure virtual

pop the last element from the stack, without restoring the current estimate

Referenced by g2o::StructureOnlySolver< PointDoF >::calc(), and g2o::OptimizableGraph::discardTop().

int g2o::OptimizableGraph::Vertex::estimateDimension ( ) const

virtual

returns the dimension of the extended representation used by get/setEstimate(double*) -1 if it is not supported

Reimplemented in g2o::VertexCam, g2o::VertexSE3, g2o::deprecated::VertexSE3, g2o::VertexSE2, g2o::VertexLine2D, g2o::deprecated::VertexPointXYZ, g2o::VertexPlane, g2o::VertexSegment2D, g2o::VertexPointXYZ, g2o::VertexLine3D, and g2o::VertexPointXY.

Definition at line 97 of file optimizable_graph.cpp.

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

   {
     return -1;
   }

bool g2o::OptimizableGraph::Vertex::fixed ( ) const

inline

true => this node is fixed during the optimization

Definition at line 273 of file optimizable_graph.h.

Referenced by g2o::SparseOptimizer::buildIndexMapping(), g2o::BlockSolver< Traits >::buildSystem(), g2o::StructureOnlySolver< PointDoF >::calc(), g2o::SparseOptimizer::computeInitialGuess(), g2o::SparseOptimizer::gaugeFreedom(), g2o::Edge_V_V_GICP::linearizeOplus(), main(), g2o::EstimatePropagator::PropagateAction::operator()(), g2o::OptimizableGraph::saveVertex(), g2o::SolverSLAM2DLinear::solveOrientation(), g2o::SparseOptimizerIncremental::updateInitialization(), and g2o::SparseOptimizer::updateInitialization().

273 {return _fixed;}

g2o::OptimizableGraph::Vertex::_fixed

bool _fixed

Definition: optimizable_graph.h:318

int g2o::OptimizableGraph::Vertex::G2O_ATTRIBUTE_DEPRECATED ( tempIndex() const )

inline

Definition at line 267 of file optimizable_graph.h.

267 { return hessianIndex();}

g2o::OptimizableGraph::Vertex::hessianIndex

int hessianIndex() const

temporary index of this node in the parameter vector obtained from linearization

Definition: optimizable_graph.h:266

void g2o::OptimizableGraph::Vertex::G2O_ATTRIBUTE_DEPRECATED ( setTempIndex(int ti) )

inline

Definition at line 270 of file optimizable_graph.h.

270 { setHessianIndex(ti);}

g2o::OptimizableGraph::Vertex::setHessianIndex

void setHessianIndex(int ti)

set the temporary index of the vertex in the parameter blocks

Definition: optimizable_graph.h:269

bool g2o::OptimizableGraph::Vertex::getEstimateData ( double * estimate ) const

virtual

writes the estimater to an array of double

Returns: true on success

Reimplemented in g2o::VertexCam, g2o::VertexSE3, g2o::deprecated::VertexSE3, g2o::VertexSE2, g2o::VertexLine2D, g2o::deprecated::VertexPointXYZ, g2o::VertexPlane, g2o::VertexSegment2D, g2o::VertexPointXYZ, g2o::VertexLine3D, and g2o::VertexPointXY.

Definition at line 92 of file optimizable_graph.cpp.

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

   {
     return false;
   }

virtual bool g2o::OptimizableGraph::Vertex::getEstimateData ( std::vector< double > & estimate ) const

inlinevirtual

writes the estimater to an array of double

Returns: true on success

Definition at line 183 of file optimizable_graph.h.

                                                                         {
           int dim = estimateDimension();
           if (dim < 0)
             return false;
           estimate.resize(dim);
           return getEstimateData(&estimate[0]);
         };

bool g2o::OptimizableGraph::Vertex::getMinimalEstimateData ( double * estimate ) const

virtual

writes the estimate to an array of double

Returns: true on success

Reimplemented in g2o::VertexCam, g2o::VertexSE3, g2o::deprecated::VertexSE3, g2o::VertexLine2D, g2o::deprecated::VertexPointXYZ, g2o::VertexSE2, g2o::VertexSegment2D, g2o::VertexPointXYZ, and g2o::VertexPointXY.

Definition at line 109 of file optimizable_graph.cpp.

Referenced by testMarginals().

   {
     return false;
   }

virtual bool g2o::OptimizableGraph::Vertex::getMinimalEstimateData ( std::vector< double > & estimate ) const

inlinevirtual

writes the estimate to an array of double

Returns: true on success

Definition at line 227 of file optimizable_graph.h.

                                                                                {
           int dim = minimalEstimateDimension();
           if (dim < 0)
             return false;
           estimate.resize(dim);
           return getMinimalEstimateData(&estimate[0]);
         };

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

inline

Definition at line 293 of file optimizable_graph.h.

Referenced by g2o::activeVertexChi(), MainWindow::fixGraph(), g2o::OptimizableGraph::Edge::graph(), and g2o::VertexLine2D::write().

293 {return _graph;}

g2o::OptimizableGraph::Vertex::_graph

OptimizableGraph * _graph

Definition: optimizable_graph.h:315

OptimizableGraph* g2o::OptimizableGraph::Vertex::graph ( )

inline

Definition at line 294 of file optimizable_graph.h.

294 {return _graph;}

g2o::OptimizableGraph::Vertex::_graph

OptimizableGraph * _graph

Definition: optimizable_graph.h:315

virtual const double& g2o::OptimizableGraph::Vertex::hessian	(	int	i,
		int	j
	)		const

pure virtual

virtual double& g2o::OptimizableGraph::Vertex::hessian	(	int	i,
		int	j
	)

pure virtual

virtual double* g2o::OptimizableGraph::Vertex::hessianData ( )

pure virtual

Referenced by g2o::SparseOptimizerIncremental::updateInitialization().

virtual double g2o::OptimizableGraph::Vertex::hessianDeterminant ( ) const

pure virtual

int g2o::OptimizableGraph::Vertex::hessianIndex ( ) const

inline

temporary index of this node in the parameter vector obtained from linearization

Definition at line 266 of file optimizable_graph.h.

Referenced by g2o::EdgeLabeler::augmentSparsePattern(), g2o::BlockSolver< Traits >::buildStructure(), g2o::SparseOptimizer::computeInitialGuess(), g2o::EdgeLabeler::labelEdge(), g2o::Star::labelStarEdges(), main(), g2o::SparseOptimizerIncremental::optimize(), g2o::ThetaTreeAction::perform(), g2o::SparseOptimizer::removeVertex(), g2o::SolverSLAM2DLinear::solveOrientation(), testMarginals(), g2o::SparseOptimizerIncremental::updateInitialization(), and g2o::BlockSolver< Traits >::updateStructure().

266 { return _hessianIndex;}

g2o::OptimizableGraph::Vertex::_hessianIndex

int _hessianIndex

Definition: optimizable_graph.h:317

void g2o::OptimizableGraph::Vertex::lockQuadraticForm ( )

inline

lock for the block of the hessian and the b vector associated with this vertex, to avoid race-conditions if multi-threaded.

Definition at line 300 of file optimizable_graph.h.

300 { _quadraticFormMutex.lock();}

g2o::OpenMPMutex::lock

void lock()

Definition: openmp_mutex.h:71

g2o::OptimizableGraph::Vertex::_quadraticFormMutex

OpenMPMutex _quadraticFormMutex

Definition: optimizable_graph.h:322

virtual void g2o::OptimizableGraph::Vertex::mapHessianMemory ( double * d )

pure virtual

maps the internal matrix to some external memory location

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

bool g2o::OptimizableGraph::Vertex::marginalized ( ) const

inline

true => this node is marginalized out during the optimization

Definition at line 278 of file optimizable_graph.h.

Referenced by g2o::SparseOptimizer::buildIndexMapping(), g2o::BlockSolver< Traits >::buildStructure(), g2o::BlockSolver< Traits >::buildSystem(), g2o::OptimizationAlgorithmWithHessian::init(), g2o::StructureOnlySolver< PointDoF >::init(), main(), g2o::SparseOptimizerIncremental::updateInitialization(), g2o::SparseOptimizer::updateInitialization(), and g2o::BlockSolver< Traits >::updateStructure().

278 {return _marginalized;}

g2o::OptimizableGraph::Vertex::_marginalized

bool _marginalized

Definition: optimizable_graph.h:319

int g2o::OptimizableGraph::Vertex::minimalEstimateDimension ( ) const

virtual

returns the dimension of the extended representation used by get/setEstimate(double*) -1 if it is not supported

Reimplemented in g2o::VertexCam, g2o::VertexSE3, g2o::deprecated::VertexSE3, g2o::deprecated::VertexPointXYZ, g2o::VertexLine2D, g2o::VertexSE2, g2o::VertexPointXYZ, g2o::VertexSegment2D, and g2o::VertexPointXY.

Definition at line 114 of file optimizable_graph.cpp.

Referenced by g2o::EdgeLabeler::labelEdge(), and testMarginals().

   {
     return -1;
   }

void g2o::OptimizableGraph::Vertex::oplus ( const double * v )

inline

Update the position of the node from the parameters in v. Depends on the implementation of oplusImpl in derived classes to actually carry out the update. Will also call updateCache() to update the caches of depending on the vertex.

Definition at line 259 of file optimizable_graph.h.

Referenced by g2o::StructureOnlySolver< PointDoF >::calc(), g2o::EdgeLabeler::labelEdge(), g2o::SparseOptimizer::optimize(), and testMarginals().

         {
           oplusImpl(v);
           updateCache();
         }

virtual void g2o::OptimizableGraph::Vertex::oplusImpl ( const double * v )

protectedpure virtual

update the position of the node from the parameters in v. Implement in your class!

Implemented in g2o::VertexSCam, g2o::VertexSBAPointXYZ, VertexPointBAL, g2o::VertexSE3, g2o::VertexSE3Expmap, g2o::deprecated::VertexSE3, g2o::VertexCam, VertexCameraBAL, g2o::VertexLine2D, VertexCircle, g2o::VertexSegment2D, g2o::VertexPointXY, VertexParams, VertexBaseline, VertexPositionVelocity3D, g2o::VertexIntrinsics, VertexVelocity3D, g2o::VertexSim3Expmap, g2o::tutorial::VertexSE2, g2o::deprecated::VertexPointXYZ, g2o::VertexSE2, g2o::VertexPlane, g2o::tutorial::VertexPointXY, g2o::VertexPointXYZ, g2o::VertexLine3D, g2o::OnlineVertexSE2, g2o::OnlineVertexSE3, g2o::VertexOdomDifferentialParams, VertexPosition3D, and VertexPosition3D.

virtual void g2o::OptimizableGraph::Vertex::pop ( )

pure virtual

restore the position of the vertex by retrieving the position from the stack

Referenced by g2o::StructureOnlySolver< PointDoF >::calc(), g2o::EdgeLabeler::labelEdge(), g2o::Star::labelStarEdges(), g2o::SparseOptimizer::pop(), g2o::OptimizableGraph::pop(), and testMarginals().

virtual void g2o::OptimizableGraph::Vertex::push ( )

pure virtual

backup the position of the vertex to a stack

Referenced by g2o::StructureOnlySolver< PointDoF >::calc(), g2o::SparseOptimizer::computeInitialGuess(), g2o::EdgeLabeler::labelEdge(), g2o::Star::labelStarEdges(), g2o::SparseOptimizer::push(), g2o::OptimizableGraph::push(), and testMarginals().

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

pure virtual

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

Implemented in g2o::VertexSCam, g2o::VertexSBAPointXYZ, VertexPointBAL, g2o::VertexLine2D, g2o::VertexSE3Expmap, g2o::VertexSegment2D, g2o::VertexPointXY, g2o::VertexSE2, g2o::VertexCam, VertexCameraBAL, VertexPositionVelocity3D, VertexCircle, VertexBaseline, VertexVelocity3D, g2o::VertexSE3, g2o::tutorial::VertexSE2, g2o::tutorial::VertexPointXY, g2o::deprecated::VertexSE3, VertexParams, g2o::VertexIntrinsics, g2o::VertexOdomDifferentialParams, g2o::VertexSim3Expmap, g2o::deprecated::VertexPointXYZ, g2o::VertexPlane, g2o::VertexSE3Euler, g2o::VertexPointXYZ, g2o::VertexLine3D, VertexPosition3D, and VertexPosition3D.

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

void g2o::OptimizableGraph::Vertex::setColInHessian ( int c )

inline

set the row of this vertex in the Hessian

Definition at line 289 of file optimizable_graph.h.

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

289 { _colInHessian = c;}

g2o::OptimizableGraph::Vertex::_colInHessian

int _colInHessian

Definition: optimizable_graph.h:321

bool g2o::OptimizableGraph::Vertex::setEstimateData ( const double * estimate )

sets the initial estimate from an array of double Implement setEstimateDataImpl()

Returns: true on success

Definition at line 85 of file optimizable_graph.cpp.

References setEstimateDataImpl(), and updateCache().

   {
     bool ret = setEstimateDataImpl(v);
     updateCache();
     return ret;
   }

bool g2o::OptimizableGraph::Vertex::setEstimateData ( const std::vector< double > & estimate )

inline

sets the initial estimate from an array of double Implement setEstimateDataImpl()

Returns: true on success

Definition at line 165 of file optimizable_graph.h.

                                                                 {
 #ifndef NDEBUG
           int dim = estimateDimension();
           assert((dim == -1) || (estimate.size() == std::size_t(dim)));
 #endif
           return setEstimateData(&estimate[0]);
         };

virtual bool g2o::OptimizableGraph::Vertex::setEstimateDataImpl ( const double * )

inlineprotectedvirtual

writes the estimater to an array of double

Returns: true on success

Reimplemented in g2o::VertexCam, g2o::VertexSE3, g2o::VertexSE2, g2o::deprecated::VertexSE3, g2o::VertexLine2D, g2o::deprecated::VertexPointXYZ, g2o::VertexPlane, g2o::VertexSegment2D, g2o::VertexPointXYZ, g2o::VertexLine3D, and g2o::VertexPointXY.

Definition at line 339 of file optimizable_graph.h.

Referenced by setEstimateData().

339 { return false;}

void g2o::OptimizableGraph::Vertex::setFixed ( bool fixed )

inline

true => this node should be considered fixed during the optimization

Definition at line 275 of file optimizable_graph.h.

Referenced by g2o::StructureOnlySolver< PointDoF >::calc(), MainWindow::fixGraph(), g2o::G2oSlamInterface::fixNode(), g2o::Star::labelStarEdges(), main(), and g2o::OptimizableGraph::setFixed().

275 { _fixed = fixed;}

g2o::OptimizableGraph::Vertex::fixed

bool fixed() const

true => this node is fixed during the optimization

Definition: optimizable_graph.h:273

g2o::OptimizableGraph::Vertex::_fixed

bool _fixed

Definition: optimizable_graph.h:318

void g2o::OptimizableGraph::Vertex::setHessianIndex ( int ti )

inline

set the temporary index of the vertex in the parameter blocks

Definition at line 269 of file optimizable_graph.h.

Referenced by g2o::OptimizableGraph::addGraph(), g2o::SparseOptimizer::buildIndexMapping(), g2o::SparseOptimizerIncremental::updateInitialization(), and g2o::SparseOptimizer::updateInitialization().

269 { _hessianIndex = ti;}

g2o::OptimizableGraph::Vertex::_hessianIndex

int _hessianIndex

Definition: optimizable_graph.h:317

virtual void g2o::OptimizableGraph::Vertex::setId ( int id )

inlinevirtual

sets the id of the node in the graph be sure that the graph keeps consistent after changing the id

Reimplemented from g2o::HyperGraph::Vertex.

Definition at line 286 of file optimizable_graph.h.

Referenced by g2o::G2oSlamInterface::addVertex(), main(), Robot::move(), PlaneItem::PlaneItem(), g2o::Gm2dlIO::readGm2dl(), and g2o::OptimizableGraph::setFixed().

286 {_id = id;}

g2o::HyperGraph::Vertex::id

int id() const

returns the id

Definition: hyper_graph.h:148

g2o::HyperGraph::Vertex::_id

int _id

Definition: hyper_graph.h:156

void g2o::OptimizableGraph::Vertex::setMarginalized ( bool marginalized )

inline

true => this node should be marginalized out during the optimization

Definition at line 280 of file optimizable_graph.h.

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

280 { _marginalized = marginalized;}

g2o::OptimizableGraph::Vertex::_marginalized

bool _marginalized

Definition: optimizable_graph.h:319

g2o::OptimizableGraph::Vertex::marginalized

bool marginalized() const

true => this node is marginalized out during the optimization

Definition: optimizable_graph.h:278

bool g2o::OptimizableGraph::Vertex::setMinimalEstimateData ( const double * estimate )

sets the initial estimate from an array of double. Implement setMinimalEstimateDataImpl()

Returns: true on success

Definition at line 102 of file optimizable_graph.cpp.

References setMinimalEstimateDataImpl(), and updateCache().

   {
     bool ret = setMinimalEstimateDataImpl(v);
     updateCache();
     return ret;
   }

bool g2o::OptimizableGraph::Vertex::setMinimalEstimateData ( const std::vector< double > & estimate )

inline

sets the initial estimate from an array of double. Implement setMinimalEstimateDataImpl()

Returns: true on success

Definition at line 209 of file optimizable_graph.h.

                                                                        {
 #ifndef NDEBUG
           int dim = minimalEstimateDimension();
           assert((dim == -1) || (estimate.size() == std::size_t(dim)));
 #endif
           return setMinimalEstimateData(&estimate[0]);
         };

virtual bool g2o::OptimizableGraph::Vertex::setMinimalEstimateDataImpl ( const double * )

inlineprotectedvirtual

sets the initial estimate from an array of double

Returns: true on success

Reimplemented in g2o::VertexCam, g2o::VertexSE3, g2o::deprecated::VertexSE3, g2o::VertexLine2D, g2o::VertexSE2, g2o::deprecated::VertexPointXYZ, g2o::VertexSegment2D, g2o::VertexPointXYZ, and g2o::VertexPointXY.

Definition at line 345 of file optimizable_graph.h.

Referenced by setMinimalEstimateData().

345 { return false;}

void g2o::OptimizableGraph::Vertex::setToOrigin ( )

inline

sets the node to the origin (used in the multilevel stuff)

Definition at line 119 of file optimizable_graph.h.

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

119 { setToOriginImpl(); updateCache();}

g2o::OptimizableGraph::Vertex::updateCache

virtual void updateCache()

Definition: optimizable_graph.cpp:67

g2o::OptimizableGraph::Vertex::setToOriginImpl

virtual void setToOriginImpl()=0

sets the node to the origin (used in the multilevel stuff)

virtual void g2o::OptimizableGraph::Vertex::setToOriginImpl ( )

protectedpure virtual

sets the node to the origin (used in the multilevel stuff)

Implemented in g2o::VertexSBAPointXYZ, VertexPointBAL, g2o::VertexSE3Expmap, VertexCameraBAL, VertexCircle, g2o::VertexCam, VertexParams, VertexBaseline, VertexPositionVelocity3D, g2o::VertexSE3, g2o::VertexLine2D, g2o::VertexIntrinsics, VertexVelocity3D, g2o::deprecated::VertexSE3, g2o::VertexSim3Expmap, g2o::VertexSegment2D, g2o::deprecated::VertexPointXYZ, g2o::VertexPlane, g2o::tutorial::VertexSE2, g2o::VertexSE2, g2o::VertexPointXYZ, g2o::tutorial::VertexPointXY, g2o::VertexPointXY, g2o::VertexLine3D, g2o::VertexOdomDifferentialParams, VertexPosition3D, and VertexPosition3D.

virtual double g2o::OptimizableGraph::Vertex::solveDirect ( double lambda = 0 )

pure virtual

updates the current vertex with the direct solution x += H_ii

Returns: the determinant of the inverted hessian

Referenced by g2o::computeSimpleStars().

virtual int g2o::OptimizableGraph::Vertex::stackSize ( ) const

pure virtual

return the stack size

void g2o::OptimizableGraph::Vertex::unlockQuadraticForm ( )

inline

unlock the block of the hessian and the b vector associated with this vertex

Definition at line 304 of file optimizable_graph.h.

304 { _quadraticFormMutex.unlock();}

g2o::OpenMPMutex::unlock

void unlock()

Definition: openmp_mutex.h:72

g2o::OptimizableGraph::Vertex::_quadraticFormMutex

OpenMPMutex _quadraticFormMutex

Definition: optimizable_graph.h:322

void g2o::OptimizableGraph::Vertex::updateCache ( )

virtual

Definition at line 67 of file optimizable_graph.cpp.

References _cacheContainer, g2o::CacheContainer::setUpdateNeeded(), and g2o::CacheContainer::update().

Referenced by g2o::BaseVertex< 6, Vector6d >::pop(), g2o::deprecated::VertexSE3::read(), g2o::BaseVertex< 6, Vector6d >::setEstimate(), setEstimateData(), setMinimalEstimateData(), g2o::deprecated::VertexSE3::VertexSE3(), and g2o::VertexSE3::VertexSE3().

                                           {
     if (_cacheContainer){
       _cacheContainer->setUpdateNeeded();
       _cacheContainer->update();
     }
   }

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

pure virtual

Friends And Related Function Documentation

friend struct OptimizableGraph

friend

Definition at line 109 of file optimizable_graph.h.

Member Data Documentation

CacheContainer* g2o::OptimizableGraph::Vertex::_cacheContainer

protected

Definition at line 324 of file optimizable_graph.h.

Referenced by cacheContainer(), updateCache(), and ~Vertex().

int g2o::OptimizableGraph::Vertex::_colInHessian

protected

Definition at line 321 of file optimizable_graph.h.

int g2o::OptimizableGraph::Vertex::_dimension

protected

Definition at line 320 of file optimizable_graph.h.

bool g2o::OptimizableGraph::Vertex::_fixed

protected

Definition at line 318 of file optimizable_graph.h.

OptimizableGraph* g2o::OptimizableGraph::Vertex::_graph

protected

Definition at line 315 of file optimizable_graph.h.

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

int g2o::OptimizableGraph::Vertex::_hessianIndex

protected

Definition at line 317 of file optimizable_graph.h.

bool g2o::OptimizableGraph::Vertex::_marginalized

protected

Definition at line 319 of file optimizable_graph.h.

Referenced by g2o::VertexSim3Expmap::VertexSim3Expmap().

OpenMPMutex g2o::OptimizableGraph::Vertex::_quadraticFormMutex

protected

Definition at line 322 of file optimizable_graph.h.

Data* g2o::OptimizableGraph::Vertex::_userData

protected

Definition at line 316 of file optimizable_graph.h.

Referenced by ~Vertex().

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/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