g2o::VertexEllipse Class Reference

string ellipse to be attached to a vertex More...

#include <vertex_ellipse.h>

Inheritance diagram for g2o::VertexEllipse:

Collaboration diagram for g2o::VertexEllipse:

Public Types
typedef std::vector< Vector2F, Eigen::aligned_allocator< Vector2F > >	myVector2fVector

Public Member Functions
	VertexEllipse ()
	~VertexEllipse ()
virtual bool	write (std::ostream &os) const
	write the data to a stream More...
virtual bool	read (std::istream &is)
	read the data from a stream More...
const Matrix3F &	covariance ()
void	setCovariance (Matrix3F &c)
const Matrix2F &	U ()
const Vector2F &	singularValues ()
const myVector2fVector &	matchingVertices ()
void	addMatchingVertex (float x, float y)
void	clearMatchingVertices ()
const std::vector< int > &	matchingVerticesIDs ()
void	addMatchingVertexID (int id)
void	clearMatchingVerticesIDs ()
Public Member Functions inherited from g2o::RobotData
	RobotData ()
virtual	~RobotData ()
double	timestamp () const
void	setTimestamp (double ts)
double	loggerTimestamp () const
void	setLoggerTimestamp (double ts)
const std::string &	tag () const
void	setTag (const std::string &tag)
const std::string &	hostname () const
void	setHostname (const std::string &hostname)
Public Member Functions inherited from g2o::HyperGraph::Data
	Data ()
	~Data ()
virtual HyperGraph::HyperGraphElementType	elementType () const
const Data *	next () const
Data *	next ()
void	setNext (Data *next_)
DataContainer *	dataContainer ()
const DataContainer *	dataContainer () const
void	setDataContainer (DataContainer *dataContainer_)
Public Member Functions inherited from g2o::HyperGraph::HyperGraphElement
virtual	~HyperGraphElement ()
HyperGraphElement *	clone () const

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Protected Member Functions
void	_updateSVD () const

Protected Attributes
Matrix3F	_covariance
Matrix2F	_UMatrix
Vector2F	_singularValues
std::vector< int >	_matchingVerticesIDs
myVector2fVector	_matchingVertices
Protected Attributes inherited from g2o::RobotData
double	_timestamp
	timestamp when the measurement was generated More...
double	_loggerTimestamp
	timestamp when the measurement was recorded More...
std::string	_tag
	string tag (FLASER, ROBOTLASER, ODOM..) of the line in the log More...
std::string	_hostname
	name of the computer/robot generating the data More...
Protected Attributes inherited from g2o::HyperGraph::Data
Data *	_next
DataContainer *	_dataContainer

Detailed Description

string ellipse to be attached to a vertex

Definition at line 39 of file vertex_ellipse.h.

Member Typedef Documentation

typedef std::vector<Vector2F, Eigen::aligned_allocator<Vector2F> > g2o::VertexEllipse::myVector2fVector

Definition at line 42 of file vertex_ellipse.h.

Constructor & Destructor Documentation

g2o::VertexEllipse::VertexEllipse

(

)

Definition at line 45 of file vertex_ellipse.cpp.

References _covariance, _singularValues, and _UMatrix.

                               : RobotData()
  {
    _covariance = Matrix3F::Zero();
    _UMatrix = Matrix2F::Zero();
    _singularValues = Vector2F::Zero();
  }

g2o::VertexEllipse::~VertexEllipse

(

)

Definition at line 52 of file vertex_ellipse.cpp.

  {
  }

Member Function Documentation

void g2o::VertexEllipse::_updateSVD ( ) const

protected

Definition at line 56 of file vertex_ellipse.cpp.

References _covariance, _singularValues, and _UMatrix.

Referenced by read().

                                      {
    Eigen::SelfAdjointEigenSolver<Matrix2F> eigenSolver(_covariance.block<2,2>(0,0));
    _UMatrix = eigenSolver.eigenvectors();
    _singularValues = eigenSolver.eigenvalues();

  }

void g2o::VertexEllipse::addMatchingVertex ( float  x, float  y  )

inline

Definition at line 57 of file vertex_ellipse.h.

Referenced by read().

                                              {
        Vector2F v(x,y);
        _matchingVertices.push_back(v);
      }

void g2o::VertexEllipse::addMatchingVertexID ( int  id )

inline

Definition at line 65 of file vertex_ellipse.h.

                                      {
        _matchingVerticesIDs.push_back(id);
      }

void g2o::VertexEllipse::clearMatchingVertices ( )

inline

Definition at line 62 of file vertex_ellipse.h.

{_matchingVertices.clear();}

void g2o::VertexEllipse::clearMatchingVerticesIDs ( )

inline

Definition at line 68 of file vertex_ellipse.h.

{_matchingVerticesIDs.clear();}

const Matrix3F& g2o::VertexEllipse::covariance ( )

inline

Definition at line 51 of file vertex_ellipse.h.

Referenced by write().

{return _covariance;}

const myVector2fVector& g2o::VertexEllipse::matchingVertices ( )

inline

Definition at line 56 of file vertex_ellipse.h.

Referenced by write().

{return _matchingVertices;}

const std::vector<int>& g2o::VertexEllipse::matchingVerticesIDs ( )

inline

Definition at line 64 of file vertex_ellipse.h.

{return _matchingVerticesIDs;}

bool g2o::VertexEllipse::read ( std::istream &  is )

virtual

read the data from a stream

Implements g2o::HyperGraph::Data.

Definition at line 63 of file vertex_ellipse.cpp.

References _covariance, _updateSVD(), and addMatchingVertex().

  {
    float cxx, cxy, cxt, cyy, cyt, ctt;
    is >> cxx >> cxy >> cxt >> cyy >> cyt >> ctt;
    _covariance(0,0) = cxx;
    _covariance(0,1) = cxy;
    _covariance(0,2) = cxt;
    _covariance(1,0) = cxy;
    _covariance(1,1) = cyy;
    _covariance(1,2) = cyt;
    _covariance(2,0) = cxt;
    _covariance(2,1) = cyt;
    _covariance(2,2) = ctt;

    _updateSVD();

    int size;
    is >> size;
    for (int i =0; i<size; i++){
      float x, y;
      is >> x >> y;
      addMatchingVertex(x,y);
    }

    return true;
  }

void g2o::VertexEllipse::setCovariance ( Matrix3F &  c )

inline

Definition at line 52 of file vertex_ellipse.h.

{ _covariance = c; _updateSVD();}

const Vector2F& g2o::VertexEllipse::singularValues ( )

inline

Definition at line 54 of file vertex_ellipse.h.

Referenced by write().

{return _singularValues;}

const Matrix2F& g2o::VertexEllipse::U ( )

inline

Definition at line 53 of file vertex_ellipse.h.

Referenced by write().

{return _UMatrix;}

bool g2o::VertexEllipse::write ( std::ostream &  os ) const

virtual

write the data to a stream

Implements g2o::HyperGraph::Data.

Definition at line 90 of file vertex_ellipse.cpp.

References _covariance, _matchingVertices, covariance(), M_PI, matchingVertices(), g2o::DrawAction::refreshPropertyPtrs(), singularValues(), and U().

  {
    os << _covariance(0,0) << " " << _covariance(0,1) << " " << _covariance(0,2) << " "
       << _covariance(1,1) << " " << _covariance(1,2) << " " << _covariance(2,2) << " ";

    os << _matchingVertices.size() << " " ;
    for (size_t i=0 ; i< _matchingVertices.size(); i++){
      os << _matchingVertices[i].x() << " " << _matchingVertices[i].y() << " ";
    }

    return os.good();
  }

Member Data Documentation

Matrix3F g2o::VertexEllipse::_covariance

protected

Definition at line 72 of file vertex_ellipse.h.

Referenced by _updateSVD(), read(), VertexEllipse(), and write().

myVector2fVector g2o::VertexEllipse::_matchingVertices

protected

Definition at line 76 of file vertex_ellipse.h.

Referenced by write().

std::vector<int> g2o::VertexEllipse::_matchingVerticesIDs

protected

Definition at line 75 of file vertex_ellipse.h.

Vector2F g2o::VertexEllipse::_singularValues

mutableprotected

Definition at line 74 of file vertex_ellipse.h.

Referenced by _updateSVD(), and VertexEllipse().

Matrix2F g2o::VertexEllipse::_UMatrix

mutableprotected

Definition at line 73 of file vertex_ellipse.h.

Referenced by _updateSVD(), and VertexEllipse().

g2o::VertexEllipse::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 44 of file vertex_ellipse.h.

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

• /home/xuezhisd/CLionProjects/g2o/g2o/types/data/vertex_ellipse.h
• /home/xuezhisd/CLionProjects/g2o/g2o/types/data/vertex_ellipse.cpp