g2o::ThetaTreeAction Class Reference

compute the initial guess of theta while travelling along the MST More...

Inheritance diagram for g2o::ThetaTreeAction:

Collaboration diagram for g2o::ThetaTreeAction:

Public Member Functions
	ThetaTreeAction (double *theta)
virtual double	perform (HyperGraph::Vertex *v, HyperGraph::Vertex *vParent, HyperGraph::Edge *e)
Public Member Functions inherited from g2o::HyperDijkstra::TreeAction
virtual double	perform (HyperGraph::Vertex *v, HyperGraph::Vertex *vParent, HyperGraph::Edge *e, double distance)

Protected Attributes
double *	_thetaGuess

Detailed Description

compute the initial guess of theta while travelling along the MST

Definition at line 49 of file solver_slam2d_linear.cpp.

Constructor & Destructor Documentation

g2o::ThetaTreeAction::ThetaTreeAction ( double *  theta )

inline

Definition at line 52 of file solver_slam2d_linear.cpp.

: HyperDijkstra::TreeAction(), _thetaGuess(theta) {}

Member Function Documentation

virtual double g2o::ThetaTreeAction::perform ( HyperGraph::Vertex *  v, HyperGraph::Vertex *  vParent, HyperGraph::Edge *  e  )

inlinevirtual

Reimplemented from g2o::HyperDijkstra::TreeAction.

Definition at line 53 of file solver_slam2d_linear.cpp.

References g2o::OptimizableGraph::Vertex::hessianIndex(), g2o::BaseEdge< D, E >::measurement(), g2o::SE2::rotation(), and g2o::HyperGraph::Edge::vertices().

      {
        if (! vParent)
          return 0.;
        EdgeSE2* odom    = static_cast<EdgeSE2*>(e);
        VertexSE2* from  = static_cast<VertexSE2*>(vParent);
        VertexSE2* to    = static_cast<VertexSE2*>(v);
        assert(to->hessianIndex() >= 0);
        double fromTheta = from->hessianIndex() < 0 ? 0. : _thetaGuess[from->hessianIndex()];
        bool direct      = odom->vertices()[0] == from;
        if (direct) 
          _thetaGuess[to->hessianIndex()] = fromTheta + odom->measurement().rotation().angle();
        else
          _thetaGuess[to->hessianIndex()] = fromTheta - odom->measurement().rotation().angle();
        return 1.;
      }

Member Data Documentation

double* g2o::ThetaTreeAction::_thetaGuess

protected

Definition at line 70 of file solver_slam2d_linear.cpp.

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

• /home/xuezhisd/CLionProjects/g2o/g2o/solvers/slam2d_linear/solver_slam2d_linear.cpp