g2o::BaseUnaryEdge< D, E, VertexXi > Class Template Reference

#include <base_unary_edge.h>

Inheritance diagram for g2o::BaseUnaryEdge< D, E, VertexXi >:

List of all members.

Public Types
typedef BaseEdge< D, E > ::ErrorVector	ErrorVector
typedef BaseEdge< D, E > ::InformationType	InformationType
typedef Matrix< double, D, VertexXiType::Dimension >	JacobianXiOplusType
typedef BaseEdge< D, E > ::Measurement	Measurement
typedef VertexXi	VertexXiType
Public Member Functions
	BaseUnaryEdge ()
virtual void	constructQuadraticForm ()
virtual void	initialEstimate (const OptimizableGraph::VertexSet &from, OptimizableGraph::Vertex *to)
const JacobianXiOplusType &	jacobianOplusXi () const
	returns the result of the linearization in the manifold space for the node xi
virtual void	linearizeOplus ()
virtual void	mapHessianMemory (double *, int, int, bool)
Static Public Attributes
static const int	Dimension = BaseEdge<D, E>::Dimension
Protected Attributes
JacobianXiOplusType	_jacobianOplusXi

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Detailed Description

template<int D, typename E, typename VertexXi>
class g2o::BaseUnaryEdge< D, E, VertexXi >

Definition at line 32 of file base_unary_edge.h.

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Member Typedef Documentation

template<int D, typename E, typename VertexXi>

typedef BaseEdge<D,E>::ErrorVector g2o::BaseUnaryEdge< D, E, VertexXi >::ErrorVector

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

Definition at line 39 of file base_unary_edge.h.

template<int D, typename E, typename VertexXi>

typedef BaseEdge<D,E>::InformationType g2o::BaseUnaryEdge< D, E, VertexXi >::InformationType

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

Definition at line 40 of file base_unary_edge.h.

template<int D, typename E, typename VertexXi>

typedef Matrix<double, D, VertexXiType::Dimension> g2o::BaseUnaryEdge< D, E, VertexXi >::JacobianXiOplusType

Definition at line 38 of file base_unary_edge.h.

template<int D, typename E, typename VertexXi>

typedef BaseEdge<D,E>::Measurement g2o::BaseUnaryEdge< D, E, VertexXi >::Measurement

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

Definition at line 36 of file base_unary_edge.h.

template<int D, typename E, typename VertexXi>

typedef VertexXi g2o::BaseUnaryEdge< D, E, VertexXi >::VertexXiType

Definition at line 37 of file base_unary_edge.h.

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Constructor & Destructor Documentation

template<int D, typename E, typename VertexXi>

g2o::BaseUnaryEdge< D, E, VertexXi >::BaseUnaryEdge

(

)

[inline]

Definition at line 42 of file base_unary_edge.h.

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Member Function Documentation

template<int D, typename E , typename VertexXiType >

void BaseUnaryEdge::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 19 of file base_unary_edge.h.

template<int D, typename E , typename VertexXiType >

void BaseUnaryEdge::initialEstimate	(	const OptimizableGraph::VertexSet &	from,
		OptimizableGraph::Vertex *	to
	)		[virtual]

set the estimate of the to vertex, based on the estimate of the from vertices in the edge.

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

Reimplemented in g2o::EdgeSE2Prior.

Definition at line 85 of file base_unary_edge.h.

template<int D, typename E, typename VertexXi>

const JacobianXiOplusType& g2o::BaseUnaryEdge< D, E, VertexXi >::jacobianOplusXi

(

)

const [inline]

returns the result of the linearization in the manifold space for the node xi

Definition at line 54 of file base_unary_edge.h.

template<int D, typename E , typename VertexXiType >

void BaseUnaryEdge::linearizeOplus

(

)

[virtual]

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

Implements g2o::OptimizableGraph::Edge.

Definition at line 41 of file base_unary_edge.h.

template<int D, typename E, typename VertexXi>

virtual void g2o::BaseUnaryEdge< D, E, VertexXi >::mapHessianMemory	(	double *	d,
		int	i,
		int	j,
		bool	rowMajor
	)		[inline, 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 60 of file base_unary_edge.h.

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Member Data Documentation

template<int D, typename E, typename VertexXi>

JacobianXiOplusType g2o::BaseUnaryEdge< D, E, VertexXi >::_jacobianOplusXi [protected]

Definition at line 73 of file base_unary_edge.h.

template<int D, typename E, typename VertexXi>

const int g2o::BaseUnaryEdge< D, E, VertexXi >::Dimension = BaseEdge<D, E>::Dimension [static]

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

Definition at line 35 of file base_unary_edge.h.

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

• base_unary_edge.h
• base_unary_edge.hpp