base class to represent an edge connecting an arbitrary number of nodes D - Dimension of the measurement E - type to represent the measurement More...

#include <base_multi_edge.h>

Inheritance diagram for g2o::BaseMultiEdge< D, E >:

[legend]

List of all members.

Classes
struct	HessianHelper
	helper for mapping the Hessian memory of the upper triangular block More...
Public Types
typedef BaseEdge< D, E > ::ErrorVector	ErrorVector
typedef Map< MatrixXd, MatrixXd::Flags &AlignedBit?Aligned:Unaligned >	HessianBlockType
typedef BaseEdge< D, E > ::InformationType	InformationType
typedef MatrixXd	JacobianType
typedef BaseEdge< D, E > ::Measurement	Measurement
Public Member Functions
	BaseMultiEdge ()
virtual void	constructQuadraticForm ()
virtual void	linearizeOplus ()
virtual void	mapHessianMemory (double *d, int i, int j, bool rowMajor)
virtual void	resize (size_t size)
Static Public Attributes
static const int	Dimension = BaseEdge<D,E>::Dimension
Protected Attributes
std::vector< HessianHelper >	_hessian
std::vector< JacobianType >	_jacobianOplus
	jacobians of the edge (w.r.t. oplus)

Detailed Description

template<int D, typename E>
class g2o::BaseMultiEdge< D, E >

base class to represent an edge connecting an arbitrary number of nodes D - Dimension of the measurement E - type to represent the measurement

Definition at line 38 of file base_multi_edge.h.

Member Typedef Documentation

template<int D, typename E>

typedef BaseEdge<D,E>::ErrorVector g2o::BaseMultiEdge< D, E >::ErrorVector

Reimplemented from g2o::BaseEdge< D, E >.

Definition at line 56 of file base_multi_edge.h.

template<int D, typename E>

typedef Map<MatrixXd, MatrixXd::Flags & AlignedBit ? Aligned : Unaligned > g2o::BaseMultiEdge< D, E >::HessianBlockType

Definition at line 59 of file base_multi_edge.h.

template<int D, typename E>

typedef BaseEdge<D,E>::InformationType g2o::BaseMultiEdge< D, E >::InformationType

Reimplemented from g2o::BaseEdge< D, E >.

Definition at line 57 of file base_multi_edge.h.

template<int D, typename E>

typedef MatrixXd g2o::BaseMultiEdge< D, E >::JacobianType

Definition at line 55 of file base_multi_edge.h.

template<int D, typename E>

typedef BaseEdge<D,E>::Measurement g2o::BaseMultiEdge< D, E >::Measurement

Reimplemented from g2o::BaseEdge< D, E >.

Definition at line 54 of file base_multi_edge.h.

Constructor & Destructor Documentation

template<int D, typename E>

g2o::BaseMultiEdge< D, E >::BaseMultiEdge ( ) [inline]

Definition at line 61 of file base_multi_edge.h.

Member Function Documentation

template<int D, typename E >

void BaseMultiEdge::constructQuadraticForm ( ) [virtual]

Linearizes the constraint in the edge. Makes side effect on the vertices of the graph by changing the parameter vector b and the hessian blocks ii and jj. The off diagoinal block is accesed via _hessian.

Implements g2o::OptimizableGraph::Edge.

Definition at line 39 of file base_multi_edge.h.

template<int D, typename E >

void BaseMultiEdge::linearizeOplus ( ) [virtual]

Linearizes the oplus operator in the vertex, and stores the result in temporary variables _jacobianOplusXi and _jacobianOplusXj

Implements g2o::OptimizableGraph::Edge.

Reimplemented in g2o::EdgeProjectP2MC_Intrinsics, and g2o::EdgeProjectXYZ2UV.

Definition at line 120 of file base_multi_edge.h.

template<int D, typename E >

void BaseMultiEdge::mapHessianMemory	(	double *	d,
		int	i,
		int	j,
		bool	rowMajor
	)		`[virtual]`

maps the internal matrix to some external memory location, you need to provide the memory before calling constructQuadraticForm

Parameters:

d	the memory location to which we map
i	index of the vertex i
j	index of the vertex j (j > i, upper triangular fashion)
rowMajor	if true, will write in rowMajor order to the block. Since EIGEN is columnMajor by default, this results in writing the transposed

Implements g2o::OptimizableGraph::Edge.

Definition at line 196 of file base_multi_edge.h.

template<int D, typename E >

void BaseMultiEdge::resize ( size_t size ) [virtual]

resizes the number of vertices connected by this edge

Reimplemented from g2o::HyperGraph::Edge.

Definition at line 223 of file base_multi_edge.h.