g2o::deprecated::CacheSE3Offset Class Reference

caching the offset related to a vertex More...

#include <parameter_se3_offset.h>

Inheritance diagram for g2o::deprecated::CacheSE3Offset:

Collaboration diagram for g2o::deprecated::CacheSE3Offset:

Public Member Functions
	CacheSE3Offset ()
virtual void	updateImpl ()
	redefine this to do the update More...
const ParameterSE3Offset *	offsetParam () const
void	setOffsetParam (ParameterSE3Offset *offsetParam)
const SE3Quat &	w2n () const
const SE3Quat &	n2w () const
const Eigen::Isometry3d &	w2nMatrix () const
const Eigen::Isometry3d &	n2wMatrix () const
const Eigen::Isometry3d &	w2lMatrix () const
Public Member Functions inherited from g2o::Cache
	Cache (CacheContainer *container_=0, const ParameterVector &parameters_=ParameterVector())
CacheKey	key () const
OptimizableGraph::Vertex *	vertex ()
OptimizableGraph *	graph ()
CacheContainer *	container ()
ParameterVector &	parameters ()
void	update ()
virtual HyperGraph::HyperGraphElementType	elementType () const
Public Member Functions inherited from g2o::HyperGraph::HyperGraphElement
virtual	~HyperGraphElement ()
HyperGraphElement *	clone () const

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Protected Member Functions
virtual bool	resolveDependancies ()
Protected Member Functions inherited from g2o::Cache
Cache *	installDependency (const std::string &type_, const std::vector< int > &parameterIndices)

Protected Attributes
ParameterSE3Offset *	_offsetParam
	the parameter connected to the cache More...
SE3Quat	_se3_w2n
SE3Quat	_se3_n2w
Eigen::Isometry3d	_w2n
	world to sensor transform More...
Eigen::Isometry3d	_w2l
	world to local More...
Eigen::Isometry3d	_n2w
	sensor to world More...
Protected Attributes inherited from g2o::Cache
bool	_updateNeeded
ParameterVector	_parameters
std::vector< Cache * >	_parentCaches
CacheContainer *	_container

Detailed Description

caching the offset related to a vertex

Definition at line 81 of file parameter_se3_offset.h.

Constructor & Destructor Documentation

g2o::deprecated::CacheSE3Offset::CacheSE3Offset

(

)

Definition at line 66 of file parameter_se3_offset.cpp.

                                 :
    Cache(),
    _offsetParam(0)
  {
  }

Member Function Documentation

const SE3Quat& g2o::deprecated::CacheSE3Offset::n2w ( ) const

inline

Definition at line 91 of file parameter_se3_offset.h.

Referenced by g2o::deprecated::EdgeSE3Prior::computeError(), g2o::deprecated::EdgeSE3Offset::computeError(), g2o::deprecated::EdgeSE3Prior::setMeasurementFromState(), and g2o::deprecated::EdgeSE3Offset::setMeasurementFromState().

{return _se3_n2w;}

const Eigen::Isometry3d& g2o::deprecated::CacheSE3Offset::n2wMatrix ( ) const

inline

Definition at line 94 of file parameter_se3_offset.h.

{ return _n2w;}

const ParameterSE3Offset* g2o::deprecated::CacheSE3Offset::offsetParam ( ) const

inline

Definition at line 87 of file parameter_se3_offset.h.

Referenced by g2o::deprecated::EdgeSE3Offset::initialEstimate(), g2o::deprecated::EdgeSE3Prior::linearizeOplus(), g2o::deprecated::EdgeSE3Offset::linearizeOplus(), and setOffsetParam().

{ return _offsetParam;}

bool g2o::deprecated::CacheSE3Offset::resolveDependancies ( )

protectedvirtual

Function to be called from a cache that has dependencies. It just invokes a sequence of installDependency(). Although the caches returned are stored in the _parentCache vector, it is better that you redefine your own cache member variables, for better readability

Reimplemented from g2o::Cache.

Reimplemented in g2o::deprecated::CacheCamera.

Definition at line 72 of file parameter_se3_offset.cpp.

References _offsetParam, and g2o::Cache::_parameters.

                                          {
    _offsetParam = dynamic_cast <ParameterSE3Offset*> (_parameters[0]);
    return _offsetParam != 0;
  }

void g2o::deprecated::CacheSE3Offset::setOffsetParam

(

ParameterSE3Offset *

offsetParam

)

Definition at line 93 of file parameter_se3_offset.cpp.

References _offsetParam, g2o::deprecated::ParameterSE3Offset::offset(), offsetParam(), RAD2DEG, g2o::DrawAction::refreshPropertyPtrs(), g2o::SE3Quat::rotation(), and g2o::SE3Quat::translation().

  {
    _offsetParam = offsetParam;
  }

void g2o::deprecated::CacheSE3Offset::updateImpl ( )

virtual

redefine this to do the update

Implements g2o::Cache.

Reimplemented in g2o::deprecated::CacheCamera.

Definition at line 77 of file parameter_se3_offset.cpp.

References _n2w, _offsetParam, _se3_n2w, _se3_w2n, _w2l, _w2n, g2o::BaseVertex< D, T >::estimate(), g2o::SE3Quat::inverse(), g2o::deprecated::ParameterSE3Offset::offset(), g2o::SE3Quat::rotation(), g2o::SE3Quat::translation(), and g2o::Cache::vertex().

                                 {
    const VertexSE3* v = static_cast<const VertexSE3*>(vertex());
    _se3_n2w = v->estimate() * _offsetParam->offset();

    _n2w = _se3_n2w.rotation().toRotationMatrix();
    _n2w.translation() = _se3_n2w.translation();

    _se3_w2n = _se3_n2w.inverse();
    _w2n = _se3_w2n.rotation().toRotationMatrix();
    _w2n.translation() = _se3_w2n.translation();

    SE3Quat w2l = v->estimate().inverse();
    _w2l = w2l.rotation().toRotationMatrix();
    _w2l.translation() = w2l.translation();
  }  

const Eigen::Isometry3d& g2o::deprecated::CacheSE3Offset::w2lMatrix ( ) const

inline

Definition at line 95 of file parameter_se3_offset.h.

Referenced by g2o::deprecated::EdgeSE3PointXYZDepth::linearizeOplus(), g2o::deprecated::EdgeSE3PointXYZ::linearizeOplus(), and g2o::deprecated::EdgeSE3PointXYZDisparity::linearizeOplus().

{ return _w2l;}

const SE3Quat& g2o::deprecated::CacheSE3Offset::w2n ( ) const

inline

Definition at line 90 of file parameter_se3_offset.h.

Referenced by g2o::deprecated::EdgeSE3Offset::computeError(), and g2o::deprecated::EdgeSE3Offset::setMeasurementFromState().

{return _se3_w2n;}

const Eigen::Isometry3d& g2o::deprecated::CacheSE3Offset::w2nMatrix ( ) const

inline

Definition at line 93 of file parameter_se3_offset.h.

Referenced by g2o::deprecated::EdgeSE3PointXYZ::computeError(), and g2o::deprecated::EdgeSE3PointXYZ::setMeasurementFromState().

{ return _w2n;}

Member Data Documentation

Eigen::Isometry3d g2o::deprecated::CacheSE3Offset::_n2w

protected

sensor to world

Definition at line 104 of file parameter_se3_offset.h.

Referenced by updateImpl().

ParameterSE3Offset* g2o::deprecated::CacheSE3Offset::_offsetParam

protected

the parameter connected to the cache

Definition at line 98 of file parameter_se3_offset.h.

Referenced by resolveDependancies(), setOffsetParam(), and updateImpl().

SE3Quat g2o::deprecated::CacheSE3Offset::_se3_n2w

protected

Definition at line 100 of file parameter_se3_offset.h.

Referenced by updateImpl().

SE3Quat g2o::deprecated::CacheSE3Offset::_se3_w2n

protected

Definition at line 99 of file parameter_se3_offset.h.

Referenced by updateImpl().

Eigen::Isometry3d g2o::deprecated::CacheSE3Offset::_w2l

protected

world to local

Definition at line 103 of file parameter_se3_offset.h.

Referenced by updateImpl().

Eigen::Isometry3d g2o::deprecated::CacheSE3Offset::_w2n

protected

world to sensor transform

Definition at line 102 of file parameter_se3_offset.h.

Referenced by updateImpl().

g2o::deprecated::CacheSE3Offset::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 83 of file parameter_se3_offset.h.

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

• /home/xuezhisd/CLionProjects/g2o/g2o/types/deprecated/slam3d/parameter_se3_offset.h
• /home/xuezhisd/CLionProjects/g2o/g2o/types/deprecated/slam3d/parameter_se3_offset.cpp