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g2o
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Functions | |
| Protocol The SLAM executable accepts such as | adding (ADD) a const raint |
| Protocol The SLAM executable accepts such as solving the | system (SOLVE) |
| Protocol The SLAM executable accepts such as solving the and retrieving | estimates (QUERY).The executable responds to a query by returning the data enclosed in a BEGIN...END block.Variables |
| The FIX command will cause a variable to be treated as a but can safely be ignored for now as it will always apply to the first pose SOLVE_STATE is provided as guidance the SLAM algorithm can make its own decision on when to solve QUERY_STATE without arguments expects all variables to be returned ADD VERTEX is provided as declaration of the variable and can optionally include an | initialization (not used for now).The automated evaluation system is expected to eventually include additional features such as evaluation of covariances.The SLAM executable responds to"QUERY_STATE"by providing a list of all requested vertices |
Variables | |
| Protocol The SLAM executable accepts | actions |
| Protocol The SLAM executable accepts such as solving the and retrieving or vertices in the | graph |
| Protocol The SLAM executable accepts such as solving the and retrieving or vertices in the explicitly state the reprensentation poses are represented by | VERTEX_XYT |
| Protocol The SLAM executable accepts such as solving the and retrieving or vertices in the explicitly state the reprensentation poses are represented by poses by VERTEX_XYZRPY In the | future |
| Protocol The SLAM executable accepts such as solving the and retrieving or vertices in the explicitly state the reprensentation poses are represented by poses by VERTEX_XYZRPY In the Quaternions and other representations could be | supported |
| Protocol The SLAM executable accepts such as solving the and retrieving or vertices in the explicitly state the reprensentation poses are represented by poses by VERTEX_XYZRPY In the Quaternions and other representations could be but note that it is up to the SLAM algorithm to choose the internal representation of the angles The keyword is followed by a unique vertex ID and an optional initialization of the | values |
| Protocol The SLAM executable accepts such as solving the and retrieving or vertices in the explicitly state the reprensentation poses are represented by poses by VERTEX_XYZRPY In the Quaternions and other representations could be but note that it is up to the SLAM algorithm to choose the internal representation of the angles The keyword is followed by a unique vertex ID and an optional initialization of the or edges in the explicitly state the type of the constraint pose constraints are given by | EDGE_XYT |
| Protocol The SLAM executable accepts such as solving the and retrieving or vertices in the explicitly state the reprensentation poses are represented by poses by VERTEX_XYZRPY In the Quaternions and other representations could be but note that it is up to the SLAM algorithm to choose the internal representation of the angles The keyword is followed by a unique vertex ID and an optional initialization of the or edges in the explicitly state the type of the constraint pose constraints are given by pose constraints by EDGE_XYZRPY The keyword is followed by a unique edge | ID |
| Protocol The SLAM executable accepts such as solving the and retrieving or vertices in the explicitly state the reprensentation poses are represented by poses by VERTEX_XYZRPY In the Quaternions and other representations could be but note that it is up to the SLAM algorithm to choose the internal representation of the angles The keyword is followed by a unique vertex ID and an optional initialization of the or edges in the explicitly state the type of the constraint pose constraints are given by pose constraints by EDGE_XYZRPY The keyword is followed by a unique edge the IDs of the referenced | vertices |
| FIX | |
| SOLVE_STATE | |
| QUERY_STATE | |
| Simple | example |
| ADD | VERTEX_XYZRPY |
| ADD | EDGE_XYZRPY |
| The FIX command will cause a variable to be treated as a | constant |
| Protocol The SLAM executable accepts such as adding | ( | ADD | ) | const |
| Protocol The SLAM executable accepts such as solving the and retrieving estimates | ( | QUERY | ) |
| The FIX command will cause a variable to be treated as a but can safely be ignored for now as it will always apply to the first pose SOLVE_STATE is provided as guidance the SLAM algorithm can make its own decision on when to solve QUERY_STATE without arguments expects all variables to be returned ADD VERTEX is provided as declaration of the variable and can optionally include an initialization | ( | not used for | now | ) |
| Protocol The SLAM executable accepts such as solving the system | ( | SOLVE | ) |
| Protocol The SLAM executable accepts actions |
Definition at line 3 of file protocol.txt.
Referenced by g2o::SparseOptimizer::computeActiveErrors(), g2o::OptimizableGraph::postIteration(), and g2o::OptimizableGraph::preIteration().
| The FIX command will cause a variable to be treated as a constant |
Definition at line 45 of file protocol.txt.
| ADD EDGE_XYT |
Definition at line 7 of file protocol.txt.
| ADD EDGE_XYZRPY |
Definition at line 40 of file protocol.txt.
| Simple example |
Definition at line 38 of file protocol.txt.
| FIX |
Definition at line 28 of file protocol.txt.
| Protocol The SLAM executable accepts such as solving the and retrieving or vertices in the explicitly state the reprensentation poses are represented by poses by VERTEX_XYZRPY In the future |
Definition at line 7 of file protocol.txt.
| Protocol The SLAM executable accepts such as solving the and retrieving or vertices in the explicitly state the reprensentation poses are represented by poses by VERTEX_XYZRPY In the Quaternions and other representations could be but note that it is up to the SLAM algorithm to choose the internal representation of the angles The keyword is followed by a unique vertex ID and an optional initialization of the or edges in the graph |
Definition at line 7 of file protocol.txt.
Referenced by g2o::World::addParameter(), g2o::BaseRobot::addSensor(), g2o::World::addWorldObject(), g2o::BaseWorldObject::graph(), g2o::BaseRobot::graph(), g2o::OptimizableGraph::Edge::internalId(), main(), Robot::move(), g2o::BaseRobot::name(), g2o::SparseOptimizerTerminateAction::operator()(), PlaneItem::PlaneItem(), g2o::UnarySensor< Robot3D, EdgeSE3Prior >::sense(), g2o::BinarySensor< Robot2D, EdgeSE2PointXY, WorldObjectPointXY >::sense(), g2o::BaseSensor::setRobot(), and g2o::BaseWorldObject::world().
| The FIX command will cause a variable to be treated as a but can safely be ignored for now as it will always apply to the first pose SOLVE_STATE is provided as guidance the SLAM algorithm can make its own decision on when to solve QUERY_STATE without arguments expects all variables to be returned ADD VERTEX is provided as declaration of the variable and can optionally include an ordered by the vertex ID |
Definition at line 7 of file protocol.txt.
| QUERY_STATE |
Definition at line 30 of file protocol.txt.
| SOLVE_STATE |
Definition at line 29 of file protocol.txt.
| Protocol The SLAM executable accepts such as solving the and retrieving or vertices in the explicitly state the reprensentation poses are represented by poses by VERTEX_XYZRPY In the Quaternions and other representations could be supported |
Definition at line 7 of file protocol.txt.
| Protocol The SLAM executable accepts such as solving the and retrieving or vertices in the explicitly state the reprensentation poses are represented by poses by VERTEX_XYZRPY In the Quaternions and other representations could be but note that it is up to the SLAM algorithm to choose the internal representation of the angles The keyword is followed by a unique vertex ID and an optional initialization of the values |
Definition at line 7 of file protocol.txt.
Referenced by g2o::PropertyMap::makeProperty(), SlamParser::Parser::parse(), and ExampleSlamInterface::queryState().
| ADD VERTEX_XYT |
Definition at line 7 of file protocol.txt.
| ADD VERTEX_XYZRPY |
Definition at line 39 of file protocol.txt.
| Protocol The SLAM executable accepts such as solving the and retrieving or vertices in the explicitly state the reprensentation poses are represented by poses by VERTEX_XYZRPY In the Quaternions and other representations could be but note that it is up to the SLAM algorithm to choose the internal representation of the angles The keyword is followed by a unique vertex ID and an optional initialization of the or edges in the explicitly state the type of the constraint pose constraints are given by pose constraints by EDGE_XYZRPY The keyword is followed by a unique edge the IDs of the referenced vertices |
Definition at line 7 of file protocol.txt.
Referenced by g2o::assignHierarchicalEdges(), g2o::computeSimpleStars(), main(), and g2o::SparseOptimizerIncremental::optimize().
1.8.11
