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AISNavigation::HCholOptimizer< PG > Struct Template Reference

#include <graph_optimizer_hchol.h>

Inheritance diagram for AISNavigation::HCholOptimizer< PG >:
Inheritance graph
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List of all members.

Classes

struct  HVertex

Public Types

typedef std::set< HVertex * > HVertexSet
typedef std::set< HVertex * > HVertexSet

Public Member Functions

virtual PG::Edge * addEdge (typename PG::Vertex *from, typename PG::Vertex *to, const typename PG::TransformationType &mean, const typename PG::InformationType &information)
virtual PG::Edge * addEdge (typename PG::Vertex *from, typename PG::Vertex *to, const typename PG::TransformationType &mean, const typename PG::InformationType &information)
virtual PG::Vertex * addVertex (const int &k)
virtual PG::Vertex * addVertex (const int &k)
virtual PG::Vertex * addVertex (int id, const typename PG::TransformationType &pose, const typename PG::InformationType &information)
virtual PG::Vertex * addVertex (int id, const typename PG::TransformationType &pose, const typename PG::InformationType &information)
void annotateHiearchicalEdgeOnDenseGraph (typename PG::TransformationType &mean, typename PG::InformationType &info, typename PG::Edge *e, int iterations, double lambda, bool initWithObservations)
void annotateHiearchicalEdgeOnDenseGraph (typename PG::TransformationType &mean, typename PG::InformationType &info, typename PG::Edge *e, int iterations, double lambda, bool initWithObservations)
void computeTopLevelDenseGraph (CholOptimizer< PG > *chol, int iterations, int lambda, int initWithObservations)
void computeTopLevelDenseGraph (CholOptimizer< PG > *chol, int iterations, int lambda, int initWithObservations)
int & edgeAnnotationIterations ()
int & edgeAnnotationIterations ()
int & globalIncrementalIterations ()
int & globalIncrementalIterations ()
 HCholOptimizer (double maxDistance=3.)
 HCholOptimizer (double maxDistance=3.)
 HCholOptimizer (HCholOptimizer< PG > *lowerLevel, double maxDistance=3.)
 HCholOptimizer (HCholOptimizer< PG > *lowerLevel, double maxDistance=3.)
 HCholOptimizer (int nLevels, double maxDistance=3.)
 HCholOptimizer (int nLevels, double maxDistance=3.)
HCholOptimizer< PG > * level (int i)
HCholOptimizer< PG > * level (int i)
double & maxDistance ()
double & maxDistance ()
int nLevels () const
int nLevels () const
boolonline ()
boolonline ()
virtual int optimize (int iterations, bool online=false)
virtual int optimize (int iterations, bool online=false)
boolpropagateDown ()
boolpropagateDown ()
virtual void refineEdge (typename PG::Edge *_e, const typename PG::TransformationType &mean, const typename PG::InformationType &information)
virtual void refineEdge (typename PG::Edge *_e, const typename PG::TransformationType &mean, const typename PG::InformationType &information)
virtual bool removeEdge (Graph::Edge *e)
virtual bool removeEdge (Graph::Edge *e)
virtual bool removeVertex (Graph::Vertex *v)
virtual bool removeVertex (Graph::Vertex *v)
virtual ~HCholOptimizer ()
virtual ~HCholOptimizer ()

Protected Member Functions

void addVertexToUpperLevels (HVertex *v)
void addVertexToUpperLevels (HVertex *v)
void annotateHiearchicalEdge (typename PG::Edge *e, int iterations, double lambda, bool initWithObservations)
void annotateHiearchicalEdge (typename PG::Edge *e, int iterations, double lambda, bool initWithObservations)
void annotateHiearchicalEdges (int iterations, double lambda, bool initWithObservations)
void annotateHiearchicalEdges (int iterations, double lambda, bool initWithObservations)
void annotateHierarchicalEdgesIncremental (HVertex *v)
void annotateHierarchicalEdgesIncremental (HVertex *v)
void bottomToTop (int iterations, double lambda, bool initWithObservations)
void bottomToTop (int iterations, double lambda, bool initWithObservations)
double cachedChi () const
double cachedChi () const
void cleanupTainted ()
void cleanupTainted ()
virtual void clear ()
virtual void clear ()
void detachChildren (HVertex *v)
void detachChildren (HVertex *v)
bool optimizeLevels (bool propagateDown)
bool optimizeLevels (bool propagateDown)
bool optimizePendingIncremental ()
bool optimizePendingIncremental ()
bool optimizeUpperLevelIncremental ()
bool optimizeUpperLevelIncremental ()
void postprocessIncremental (HVertex *v)
void postprocessIncremental (HVertex *v)
void propagateDownIncremental (HVertex *to)
void propagateDownIncremental (HVertex *to)
void propagateDownIncremental (HVertex *to, double lambda)
void propagateDownIncremental (HVertex *to, double lambda)
void topToBottom (int iterations, double lambda)
void topToBottom (int iterations, double lambda)
void updateStructure (bool incremental)
void updateStructure (bool incremental)
void vCycle (int iterations, double lambdaUp, double lambdaDown, bool initWithObservations)
void vCycle (int iterations, double lambdaUp, double lambdaDown, bool initWithObservations)

Protected Attributes

double _cachedChi
int _downIncrementalIterations
int _edgeAnnotationIncrementalIterations
int _globalIncrementalIterations
bool _gnuplot
double _lastOptChi
HCholOptimizer< PG > * _lowerOptimizer
double _maxDistance
int _nVerticesPropagatedDownIncremental
bool _online
bool _propagateDown
std::set< int > _rootIDs
double _rotationalPropagationError
double _translationalPropagationError
HCholOptimizer< PG > * _upperOptimizer

Friends

struct HVertex

Detailed Description

template<typename PG>
struct AISNavigation::HCholOptimizer< PG >

Definition at line 25 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol.h.


Member Typedef Documentation

template<typename PG>
typedef std::set<HVertex*> AISNavigation::HCholOptimizer< PG >::HVertexSet
template<typename PG>
typedef std::set<HVertex*> AISNavigation::HCholOptimizer< PG >::HVertexSet

Constructor & Destructor Documentation

template<typename PG >
AISNavigation::HCholOptimizer< PG >::HCholOptimizer ( double  maxDistance = 3.)
template<typename PG >
AISNavigation::HCholOptimizer< PG >::HCholOptimizer ( HCholOptimizer< PG > *  lowerLevel,
double  maxDistance = 3. 
)
template<typename PG >
AISNavigation::HCholOptimizer< PG >::HCholOptimizer ( int  nLevels,
double  maxDistance = 3. 
)
template<typename PG >
AISNavigation::HCholOptimizer< PG >::~HCholOptimizer ( ) [virtual]
template<typename PG>
AISNavigation::HCholOptimizer< PG >::HCholOptimizer ( double  maxDistance = 3.)
template<typename PG>
AISNavigation::HCholOptimizer< PG >::HCholOptimizer ( HCholOptimizer< PG > *  lowerLevel,
double  maxDistance = 3. 
)
template<typename PG>
AISNavigation::HCholOptimizer< PG >::HCholOptimizer ( int  nLevels,
double  maxDistance = 3. 
)
template<typename PG>
virtual AISNavigation::HCholOptimizer< PG >::~HCholOptimizer ( ) [virtual]

Member Function Documentation

template<typename PG >
PG::Edge * AISNavigation::HCholOptimizer< PG >::addEdge ( typename PG::Vertex *  from,
typename PG::Vertex *  to,
const typename PG::TransformationType &  mean,
const typename PG::InformationType &  information 
) [virtual]
template<typename PG>
virtual PG::Edge* AISNavigation::HCholOptimizer< PG >::addEdge ( typename PG::Vertex *  from,
typename PG::Vertex *  to,
const typename PG::TransformationType &  mean,
const typename PG::InformationType &  information 
) [virtual]
template<typename PG >
PG::Vertex * AISNavigation::HCholOptimizer< PG >::addVertex ( const int &  k) [virtual]
template<typename PG>
virtual PG::Vertex* AISNavigation::HCholOptimizer< PG >::addVertex ( const int &  k) [virtual]
template<typename PG>
virtual PG::Vertex* AISNavigation::HCholOptimizer< PG >::addVertex ( int  id,
const typename PG::TransformationType &  pose,
const typename PG::InformationType &  information 
) [virtual]
template<typename PG >
PG::Vertex * AISNavigation::HCholOptimizer< PG >::addVertex ( int  id,
const typename PG::TransformationType &  pose,
const typename PG::InformationType &  information 
) [virtual]
template<typename PG >
void AISNavigation::HCholOptimizer< PG >::addVertexToUpperLevels ( HVertex v) [protected]
template<typename PG>
void AISNavigation::HCholOptimizer< PG >::addVertexToUpperLevels ( HVertex v) [protected]
template<typename PG >
void AISNavigation::HCholOptimizer< PG >::annotateHiearchicalEdge ( typename PG::Edge *  e,
int  iterations,
double  lambda,
bool  initWithObservations 
) [protected]
template<typename PG>
void AISNavigation::HCholOptimizer< PG >::annotateHiearchicalEdge ( typename PG::Edge *  e,
int  iterations,
double  lambda,
bool  initWithObservations 
) [protected]
template<typename PG>
void AISNavigation::HCholOptimizer< PG >::annotateHiearchicalEdgeOnDenseGraph ( typename PG::TransformationType &  mean,
typename PG::InformationType &  info,
typename PG::Edge *  e,
int  iterations,
double  lambda,
bool  initWithObservations 
)
template<typename PG >
void AISNavigation::HCholOptimizer< PG >::annotateHiearchicalEdgeOnDenseGraph ( typename PG::TransformationType &  mean,
typename PG::InformationType &  info,
typename PG::Edge *  e,
int  iterations,
double  lambda,
bool  initWithObservations 
)
template<typename PG >
void AISNavigation::HCholOptimizer< PG >::annotateHiearchicalEdges ( int  iterations,
double  lambda,
bool  initWithObservations 
) [protected]
template<typename PG>
void AISNavigation::HCholOptimizer< PG >::annotateHiearchicalEdges ( int  iterations,
double  lambda,
bool  initWithObservations 
) [protected]
template<typename PG >
void AISNavigation::HCholOptimizer< PG >::annotateHierarchicalEdgesIncremental ( HVertex v) [protected]
template<typename PG>
void AISNavigation::HCholOptimizer< PG >::annotateHierarchicalEdgesIncremental ( HVertex v) [protected]
template<typename PG >
void AISNavigation::HCholOptimizer< PG >::bottomToTop ( int  iterations,
double  lambda,
bool  initWithObservations 
) [protected]
template<typename PG>
void AISNavigation::HCholOptimizer< PG >::bottomToTop ( int  iterations,
double  lambda,
bool  initWithObservations 
) [protected]
template<typename PG>
double AISNavigation::HCholOptimizer< PG >::cachedChi ( ) const [inline, protected]
template<typename PG>
double AISNavigation::HCholOptimizer< PG >::cachedChi ( ) const [inline, protected]
template<typename PG >
void AISNavigation::HCholOptimizer< PG >::cleanupTainted ( ) [protected]
template<typename PG>
void AISNavigation::HCholOptimizer< PG >::cleanupTainted ( ) [protected]
template<typename PG >
void AISNavigation::HCholOptimizer< PG >::clear ( void  ) [protected, virtual]
template<typename PG>
virtual void AISNavigation::HCholOptimizer< PG >::clear ( ) [protected, virtual]
template<typename PG>
void AISNavigation::HCholOptimizer< PG >::computeTopLevelDenseGraph ( CholOptimizer< PG > *  chol,
int  iterations,
int  lambda,
int  initWithObservations 
)
template<typename PG >
void AISNavigation::HCholOptimizer< PG >::computeTopLevelDenseGraph ( CholOptimizer< PG > *  chol,
int  iterations,
int  lambda,
int  initWithObservations 
)
template<typename PG>
void AISNavigation::HCholOptimizer< PG >::detachChildren ( HVertex v) [protected]
template<typename PG>
void AISNavigation::HCholOptimizer< PG >::detachChildren ( HVertex v) [protected]
template<typename PG>
int& AISNavigation::HCholOptimizer< PG >::edgeAnnotationIterations ( ) [inline]
template<typename PG>
int& AISNavigation::HCholOptimizer< PG >::edgeAnnotationIterations ( ) [inline]
template<typename PG>
int& AISNavigation::HCholOptimizer< PG >::globalIncrementalIterations ( ) [inline]
template<typename PG>
int& AISNavigation::HCholOptimizer< PG >::globalIncrementalIterations ( ) [inline]
template<typename PG >
HCholOptimizer< PG > * AISNavigation::HCholOptimizer< PG >::level ( int  i)
template<typename PG>
HCholOptimizer<PG>* AISNavigation::HCholOptimizer< PG >::level ( int  i)
template<typename PG>
double& AISNavigation::HCholOptimizer< PG >::maxDistance ( ) [inline]
template<typename PG>
double& AISNavigation::HCholOptimizer< PG >::maxDistance ( ) [inline]
template<typename PG>
int AISNavigation::HCholOptimizer< PG >::nLevels ( ) const
template<typename PG >
int AISNavigation::HCholOptimizer< PG >::nLevels ( ) const
template<typename PG>
bool& AISNavigation::HCholOptimizer< PG >::online ( ) [inline]
template<typename PG>
bool& AISNavigation::HCholOptimizer< PG >::online ( ) [inline]
template<typename PG>
virtual int AISNavigation::HCholOptimizer< PG >::optimize ( int  iterations,
bool  online = false 
) [virtual]
template<typename PG >
int AISNavigation::HCholOptimizer< PG >::optimize ( int  iterations,
bool  online = false 
) [virtual]
template<typename PG >
bool AISNavigation::HCholOptimizer< PG >::optimizeLevels ( bool  propagateDown) [protected]
template<typename PG>
bool AISNavigation::HCholOptimizer< PG >::optimizeLevels ( bool  propagateDown) [protected]
template<typename PG >
bool AISNavigation::HCholOptimizer< PG >::optimizePendingIncremental ( ) [protected]
template<typename PG>
bool AISNavigation::HCholOptimizer< PG >::optimizePendingIncremental ( ) [protected]
template<typename PG>
bool AISNavigation::HCholOptimizer< PG >::optimizeUpperLevelIncremental ( ) [protected]
template<typename PG >
bool AISNavigation::HCholOptimizer< PG >::optimizeUpperLevelIncremental ( ) [protected]
template<typename PG>
void AISNavigation::HCholOptimizer< PG >::postprocessIncremental ( HVertex v) [protected]
template<typename PG >
void AISNavigation::HCholOptimizer< PG >::postprocessIncremental ( HVertex v) [protected]
template<typename PG>
bool& AISNavigation::HCholOptimizer< PG >::propagateDown ( ) [inline]
template<typename PG>
bool& AISNavigation::HCholOptimizer< PG >::propagateDown ( ) [inline]
template<typename PG>
void AISNavigation::HCholOptimizer< PG >::propagateDownIncremental ( HVertex to) [protected]
template<typename PG >
void AISNavigation::HCholOptimizer< PG >::propagateDownIncremental ( HVertex to) [protected]
template<typename PG>
void AISNavigation::HCholOptimizer< PG >::propagateDownIncremental ( HVertex to,
double  lambda 
) [protected]
template<typename PG >
void AISNavigation::HCholOptimizer< PG >::propagateDownIncremental ( HVertex to,
double  lambda 
) [protected]
template<typename PG >
void AISNavigation::HCholOptimizer< PG >::refineEdge ( typename PG::Edge *  _e,
const typename PG::TransformationType &  mean,
const typename PG::InformationType &  information 
) [virtual]
template<typename PG>
virtual void AISNavigation::HCholOptimizer< PG >::refineEdge ( typename PG::Edge *  _e,
const typename PG::TransformationType &  mean,
const typename PG::InformationType &  information 
) [virtual]
template<typename PG>
virtual bool AISNavigation::HCholOptimizer< PG >::removeEdge ( Graph::Edge e) [virtual]
template<typename PG >
bool AISNavigation::HCholOptimizer< PG >::removeEdge ( Graph::Edge e) [virtual]
template<typename PG>
virtual bool AISNavigation::HCholOptimizer< PG >::removeVertex ( Graph::Vertex v) [virtual]
template<typename PG >
bool AISNavigation::HCholOptimizer< PG >::removeVertex ( Graph::Vertex v) [virtual]
template<typename PG>
void AISNavigation::HCholOptimizer< PG >::topToBottom ( int  iterations,
double  lambda 
) [protected]
template<typename PG >
void AISNavigation::HCholOptimizer< PG >::topToBottom ( int  iterations,
double  lambda 
) [protected]
template<typename PG>
void AISNavigation::HCholOptimizer< PG >::updateStructure ( bool  incremental) [protected]
template<typename PG >
void AISNavigation::HCholOptimizer< PG >::updateStructure ( bool  incremental) [protected]
template<typename PG>
void AISNavigation::HCholOptimizer< PG >::vCycle ( int  iterations,
double  lambdaUp,
double  lambdaDown,
bool  initWithObservations 
) [protected]
template<typename PG >
void AISNavigation::HCholOptimizer< PG >::vCycle ( int  iterations,
double  lambdaUp,
double  lambdaDown,
bool  initWithObservations 
) [protected]

Friends And Related Function Documentation

template<typename PG>
HVertex [friend]

Member Data Documentation

template<typename PG>
double AISNavigation::HCholOptimizer< PG >::_cachedChi [protected]
template<typename PG>
int AISNavigation::HCholOptimizer< PG >::_downIncrementalIterations [protected]
template<typename PG>
int AISNavigation::HCholOptimizer< PG >::_edgeAnnotationIncrementalIterations [protected]
template<typename PG>
int AISNavigation::HCholOptimizer< PG >::_globalIncrementalIterations [protected]
template<typename PG>
bool AISNavigation::HCholOptimizer< PG >::_gnuplot [protected]
template<typename PG>
double AISNavigation::HCholOptimizer< PG >::_lastOptChi [protected]
template<typename PG>
HCholOptimizer< PG > * AISNavigation::HCholOptimizer< PG >::_lowerOptimizer [protected]
template<typename PG>
double AISNavigation::HCholOptimizer< PG >::_maxDistance [protected]
template<typename PG>
int AISNavigation::HCholOptimizer< PG >::_nVerticesPropagatedDownIncremental [protected]
template<typename PG>
bool AISNavigation::HCholOptimizer< PG >::_online [protected]
template<typename PG>
bool AISNavigation::HCholOptimizer< PG >::_propagateDown [protected]
template<typename PG>
std::set< int > AISNavigation::HCholOptimizer< PG >::_rootIDs [protected]
template<typename PG>
double AISNavigation::HCholOptimizer< PG >::_rotationalPropagationError [protected]
template<typename PG>
double AISNavigation::HCholOptimizer< PG >::_translationalPropagationError [protected]
template<typename PG>
HCholOptimizer< PG > * AISNavigation::HCholOptimizer< PG >::_upperOptimizer [protected]

The documentation for this struct was generated from the following files:
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hogman_minimal
Author(s): Maintained by Juergen Sturm
autogenerated on Wed Dec 26 2012 15:36:50