g2o::deprecated::ParameterSE3Offset Class Reference

offset for an SE3 More...

#include <parameter_se3_offset.h>

Inheritance diagram for g2o::deprecated::ParameterSE3Offset:

Collaboration diagram for g2o::deprecated::ParameterSE3Offset:

Public Member Functions
	ParameterSE3Offset ()
virtual bool	read (std::istream &is)
	read the data from a stream More...
virtual bool	write (std::ostream &os) const
	write the data to a stream More...
void	setOffset (const SE3Quat &offset_=SE3Quat())
const SE3Quat &	offset () const
	return the offset as SE3Quat More...
const Eigen::Isometry3d &	offsetMatrix () const
	rotation of the offset as 3x3 rotation matrix More...
const Eigen::Isometry3d &	inverseOffsetMatrix () const
	rotation of the inverse offset as 3x3 rotation matrix More...
Public Member Functions inherited from g2o::Parameter
	Parameter ()
virtual	~Parameter ()
int	id () const
void	setId (int id_)
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 Attributes
SE3Quat	_offset
Eigen::Isometry3d	_offsetMatrix
Eigen::Isometry3d	_inverseOffsetMatrix
Protected Attributes inherited from g2o::Parameter
int	_id

Detailed Description

offset for an SE3

Definition at line 48 of file parameter_se3_offset.h.

Constructor & Destructor Documentation

g2o::deprecated::ParameterSE3Offset::ParameterSE3Offset

(

)

Definition at line 37 of file parameter_se3_offset.cpp.

                                        {
    setOffset();
  }

Member Function Documentation

const Eigen::Isometry3d& g2o::deprecated::ParameterSE3Offset::inverseOffsetMatrix ( ) const

inline

rotation of the inverse offset as 3x3 rotation matrix

Definition at line 70 of file parameter_se3_offset.h.

Referenced by g2o::deprecated::EdgeSE3PointXYZ::linearizeOplus().

{ return _inverseOffsetMatrix;}

const SE3Quat& g2o::deprecated::ParameterSE3Offset::offset ( ) const

inline

return the offset as SE3Quat

Definition at line 64 of file parameter_se3_offset.h.

Referenced by g2o::deprecated::EdgeSE3Prior::initialEstimate(), g2o::deprecated::EdgeSE3Offset::initialEstimate(), g2o::deprecated::EdgeSE3Prior::linearizeOplus(), g2o::deprecated::EdgeSE3Offset::linearizeOplus(), g2o::deprecated::CacheSE3Offset::setOffsetParam(), and g2o::deprecated::CacheSE3Offset::updateImpl().

{ return _offset;}

const Eigen::Isometry3d& g2o::deprecated::ParameterSE3Offset::offsetMatrix ( ) const

inline

rotation of the offset as 3x3 rotation matrix

Definition at line 67 of file parameter_se3_offset.h.

Referenced by g2o::deprecated::EdgeSE3PointXYZDepth::initialEstimate(), g2o::deprecated::EdgeSE3PointXYZ::initialEstimate(), g2o::deprecated::EdgeSE3PointXYZDisparity::initialEstimate(), and g2o::deprecated::CacheCamera::updateImpl().

{ return _offsetMatrix;}

bool g2o::deprecated::ParameterSE3Offset::read ( std::istream &  is )

virtual

read the data from a stream

Implements g2o::Parameter.

Reimplemented in g2o::deprecated::ParameterCamera.

Definition at line 48 of file parameter_se3_offset.cpp.

                                              {
    Vector7d off;
    for (int i=0; i<7; i++) {
      is >> off[i];
      std::cerr << off[i] << " " ;
    }
    std::cerr <<  std::endl;
    setOffset(SE3Quat(off));
    return is.good();
  }

void g2o::deprecated::ParameterSE3Offset::setOffset

(

const SE3Quat &

offset_ = SE3Quat()

)

update the offset to a new value. re-calculates the different representations, e.g., the rotation matrix

Definition at line 41 of file parameter_se3_offset.cpp.

References g2o::SE3Quat::rotation().

                                                          {
    _offset = offset_;
    _offsetMatrix= _offset.rotation().toRotationMatrix();
    _offsetMatrix.translation() = _offset.translation();
    _inverseOffsetMatrix = _offsetMatrix.inverse();
  }

bool g2o::deprecated::ParameterSE3Offset::write ( std::ostream &  os ) const

virtual

write the data to a stream

Implements g2o::Parameter.

Reimplemented in g2o::deprecated::ParameterCamera.

Definition at line 59 of file parameter_se3_offset.cpp.

                                                     {
    Vector7d off = _offset.toVector();
    for (int i=0; i<7; i++)
      os << off[i] << " ";
    return os.good();
  }

Member Data Documentation

Eigen::Isometry3d g2o::deprecated::ParameterSE3Offset::_inverseOffsetMatrix

protected

Definition at line 75 of file parameter_se3_offset.h.

SE3Quat g2o::deprecated::ParameterSE3Offset::_offset

protected

Definition at line 73 of file parameter_se3_offset.h.

Eigen::Isometry3d g2o::deprecated::ParameterSE3Offset::_offsetMatrix

protected

Definition at line 74 of file parameter_se3_offset.h.

g2o::deprecated::ParameterSE3Offset::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 51 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