g2o::tutorial::CacheSE2Offset Class Reference

#include <parameter_se2_offset.h>

Inheritance diagram for g2o::tutorial::CacheSE2Offset:

Collaboration diagram for g2o::tutorial::CacheSE2Offset:

Public Member Functions
const SE2 &	w2n () const
const SE2 &	n2w () 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 void	updateImpl ()
	redefine this to do the update More...
virtual bool	resolveDependancies ()
Protected Member Functions inherited from g2o::Cache
Cache *	installDependency (const std::string &type_, const std::vector< int > &parameterIndices)

Protected Attributes
ParameterSE2Offset *	_offsetParam
SE2	_w2n
SE2	_n2w
Protected Attributes inherited from g2o::Cache
bool	_updateNeeded
ParameterVector	_parameters
std::vector< Cache * >	_parentCaches
CacheContainer *	_container

Detailed Description

Definition at line 56 of file parameter_se2_offset.h.

Member Function Documentation

const SE2& g2o::tutorial::CacheSE2Offset::n2w ( ) const

inline

Definition at line 62 of file parameter_se2_offset.h.

{ return _n2w;}

bool g2o::tutorial::CacheSE2Offset::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.

Definition at line 65 of file parameter_se2_offset.cpp.

    {
      _offsetParam = dynamic_cast<ParameterSE2Offset*> (_parameters[0]);
      return _offsetParam != 0;
    }

void g2o::tutorial::CacheSE2Offset::updateImpl ( )

protectedvirtual

redefine this to do the update

Implements g2o::Cache.

Definition at line 58 of file parameter_se2_offset.cpp.

References g2o::BaseVertex< D, T >::estimate(), and g2o::SE2::inverse().

    {
      const VertexSE2* v = static_cast<const VertexSE2*>(vertex());
      _n2w = v->estimate() * _offsetParam->offset();
      _w2n = _n2w.inverse();
    }

const SE2& g2o::tutorial::CacheSE2Offset::w2n ( ) const

inline

Definition at line 61 of file parameter_se2_offset.h.

Referenced by g2o::tutorial::EdgeSE2PointXY::computeError().

{ return _w2n;}

Member Data Documentation

SE2 g2o::tutorial::CacheSE2Offset::_n2w

protected

Definition at line 69 of file parameter_se2_offset.h.

ParameterSE2Offset* g2o::tutorial::CacheSE2Offset::_offsetParam

protected

Definition at line 68 of file parameter_se2_offset.h.

SE2 g2o::tutorial::CacheSE2Offset::_w2n

protected

Definition at line 69 of file parameter_se2_offset.h.

g2o::tutorial::CacheSE2Offset::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 59 of file parameter_se2_offset.h.

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

• /home/xuezhisd/CLionProjects/g2o/g2o/examples/tutorial_slam2d/parameter_se2_offset.h
• /home/xuezhisd/CLionProjects/g2o/g2o/examples/tutorial_slam2d/parameter_se2_offset.cpp