|
g2o
|
SE3 Vertex parameterized internally with a transformation matrix and externally with its exponential map. More...
#include <types_six_dof_expmap.h>
Public Member Functions | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | VertexSE3Expmap () |
| bool | read (std::istream &is) |
| read the vertex from a stream, i.e., the internal state of the vertex More... | |
| bool | write (std::ostream &os) const |
| write the vertex to a stream More... | |
| virtual void | setToOriginImpl () |
| sets the node to the origin (used in the multilevel stuff) More... | |
| virtual void | oplusImpl (const double *update_) |
 Public Member Functions inherited from g2o::BaseVertex< 6, SE3Quat > | |
| 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) |
| HessianBlockType & | A () |
| return the hessian block associated with the vertex More... | |
| const HessianBlockType & | A () 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 EstimateType & | estimate () 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 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... | |
| 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 |
| 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 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) |
Additional Inherited Members | |
| Public Types inherited from g2o::BaseVertex< 6, SE3Quat > | |
| typedef SE3Quat | 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::BaseVertex< 6, SE3Quat > | |
| static const int | Dimension |
| dimension of the estimate (minimal) in the manifold space More... | |
| Protected Member Functions inherited from g2o::OptimizableGraph::Vertex | |
| virtual bool | setEstimateDataImpl (const double *) |
| virtual bool | setMinimalEstimateDataImpl (const double *) |
| Protected Attributes inherited from g2o::BaseVertex< 6, SE3Quat > | |
| 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 |
SE3 Vertex parameterized internally with a transformation matrix and externally with its exponential map.
Definition at line 85 of file types_six_dof_expmap.h.
| g2o::VertexSE3Expmap::VertexSE3Expmap | ( | ) |
Definition at line 86 of file types_six_dof_expmap.cpp.
|
inlinevirtual |
update the position of the node from the parameters in v. Implement in your class!
Implements g2o::OptimizableGraph::Vertex.
Definition at line 99 of file types_six_dof_expmap.h.
References g2o::SE3Quat::exp().
|
virtual |
read the vertex from a stream, i.e., the internal state of the vertex
Implements g2o::OptimizableGraph::Vertex.
Definition at line 89 of file types_six_dof_expmap.cpp.
References g2o::SE3Quat::fromVector(), g2o::SE3Quat::inverse(), and g2o::BaseVertex< 6, SE3Quat >::setEstimate().
|
inlinevirtual |
sets the node to the origin (used in the multilevel stuff)
Implements g2o::OptimizableGraph::Vertex.
Definition at line 95 of file types_six_dof_expmap.h.
|
virtual |
write the vertex to a stream
Implements g2o::OptimizableGraph::Vertex.
Definition at line 99 of file types_six_dof_expmap.cpp.
References g2o::BaseVertex< 6, SE3Quat >::estimate().
1.8.11
