Implementation of a solver operating on the blocks of the Hessian. More...

#include <block_solver.h>

Inheritance diagram for g2o::BlockSolver< Traits >:

Public Types
typedef Traits::LandmarkHessianType	LandmarkHessianType
typedef Traits::LandmarkMatrixType	LandmarkMatrixType
typedef Traits::LandmarkVectorType	LandmarkVectorType
typedef Traits::LinearSolverType	LinearSolverType
typedef Traits::PoseHessianType	PoseHessianType
typedef Traits::PoseLandmarkHessianType	PoseLandmarkHessianType
typedef Traits::PoseLandmarkMatrixType	PoseLandmarkMatrixType
typedef Traits::PoseMatrixType	PoseMatrixType
typedef Traits::PoseVectorType	PoseVectorType
Public Member Functions
	BlockSolver (SparseOptimizer optimizer, LinearSolverType linearSolver)
virtual bool	buildStructure (bool zeroBlocks=false)
virtual bool	buildSystem ()
virtual bool	computeMarginals ()
virtual bool	computeMarginals (SparseBlockMatrix< MatrixXd > &spinv, const std::vector< std::pair< int, int > > &blockIndices)
virtual bool	init (bool online=false)
LinearSolver< PoseMatrixType > *	linearSolver () const
virtual bool	schur ()
	should the solver perform the schur complement or not
virtual bool	setLambda (double lambda)
virtual void	setSchur (bool s)
virtual bool	solve ()
virtual bool	supportsSchur ()
virtual bool	updateStructure (const std::vector< HyperGraph::Vertex * > &vset, const HyperGraph::EdgeSet &edges)
	~BlockSolver ()
Static Public Attributes
static const int	LandmarkDim = Traits::LandmarkDim
static const int	PoseDim = Traits::PoseDim
Protected Member Functions
void	resize (int blockPoseIndices, int numPoseBlocks, int blockLandmarkIndices, int numLandmarkBlocks, int totalDim)
Protected Attributes
double *	_bschur
double *	_coefficients
SparseBlockMatrix < LandmarkMatrixType > *	_DInvSchur
bool	_doSchur
SparseBlockMatrix < LandmarkMatrixType > *	_Hll
SparseBlockMatrix < PoseLandmarkMatrixType > *	_Hpl
SparseBlockMatrix < PoseMatrixType > *	_Hpp
SparseBlockMatrix < PoseMatrixType > *	_Hschur
LinearSolver< PoseMatrixType > *	_linearSolver
int	_numLandmarks
int	_numPoses
int	_sizeLandmarks
int	_sizePoses

Detailed Description

template<typename Traits>
class g2o::BlockSolver< Traits >

Implementation of a solver operating on the blocks of the Hessian.

Definition at line 75 of file block_solver.h.

Member Typedef Documentation

template<typename Traits>

typedef Traits::LandmarkHessianType g2o::BlockSolver< Traits >::LandmarkHessianType

Definition at line 87 of file block_solver.h.

template<typename Traits>

typedef Traits::LandmarkMatrixType g2o::BlockSolver< Traits >::LandmarkMatrixType

Definition at line 81 of file block_solver.h.

template<typename Traits>

typedef Traits::LandmarkVectorType g2o::BlockSolver< Traits >::LandmarkVectorType

Definition at line 84 of file block_solver.h.

template<typename Traits>

typedef Traits::LinearSolverType g2o::BlockSolver< Traits >::LinearSolverType

Definition at line 89 of file block_solver.h.

template<typename Traits>

typedef Traits::PoseHessianType g2o::BlockSolver< Traits >::PoseHessianType

Definition at line 86 of file block_solver.h.

template<typename Traits>

typedef Traits::PoseLandmarkHessianType g2o::BlockSolver< Traits >::PoseLandmarkHessianType

Definition at line 88 of file block_solver.h.

template<typename Traits>

typedef Traits::PoseLandmarkMatrixType g2o::BlockSolver< Traits >::PoseLandmarkMatrixType

Definition at line 82 of file block_solver.h.

template<typename Traits>

typedef Traits::PoseMatrixType g2o::BlockSolver< Traits >::PoseMatrixType

Definition at line 80 of file block_solver.h.

template<typename Traits>

typedef Traits::PoseVectorType g2o::BlockSolver< Traits >::PoseVectorType

Definition at line 83 of file block_solver.h.

Constructor & Destructor Documentation

template<typename Traits >

g2o::BlockSolver< Traits >::BlockSolver	(	SparseOptimizer *	optimizer,
		LinearSolverType *	linearSolver
	)

Allocate a block solver ontop of the underlying linear solver. NOTE: The BlockSolver assumes exclusive access to the linear solver and will therefore free the pointer in its destructor.

Definition at line 30 of file block_solver.hpp.

template<typename Traits >

g2o::BlockSolver< Traits >::~BlockSolver ( )

Definition at line 151 of file block_solver.hpp.

Member Function Documentation

template<typename Traits >

bool g2o::BlockSolver< Traits >::buildStructure ( bool zeroBlocks = false ) [virtual]

build the structure of the system

¿¿¿¿ QUE PASA SI EL EDGE TIENE MAS DE 2 VERTICES ????

Implements g2o::Solver.

Definition at line 188 of file block_solver.hpp.

template<typename Traits >

bool g2o::BlockSolver< Traits >::buildSystem ( ) [virtual]

build the current system

Implements g2o::Solver.

Definition at line 840 of file block_solver.hpp.

template<typename Traits >

bool g2o::BlockSolver< Traits >::computeMarginals ( ) [virtual]

computes the block diagonal elements of the inverted hessian and stores them in the nodes of the graph.

Implements g2o::Solver.

Definition at line 802 of file block_solver.hpp.

template<typename Traits >

bool g2o::BlockSolver< Traits >::computeMarginals	(	SparseBlockMatrix< MatrixXd > &	spinv,
		const std::vector< std::pair< int, int > > &	blockIndices
	)		`[virtual]`

computes the block diagonal elements of the pattern specified in the input and stores them in the nodes of the graph.

Implements g2o::Solver.

Definition at line 824 of file block_solver.hpp.

template<typename Traits >

bool g2o::BlockSolver< Traits >::init ( bool online = false ) [virtual]

initialize the solver, called once before the first iteration

Implements g2o::Solver.

Definition at line 930 of file block_solver.hpp.

template<typename Traits>

LinearSolver<PoseMatrixType>* g2o::BlockSolver< Traits >::linearSolver ( ) const [inline]

Definition at line 121 of file block_solver.h.

template<typename Traits >

void g2o::BlockSolver< Traits >::resize	(	int *	blockPoseIndices,
		int	numPoseBlocks,
		int *	blockLandmarkIndices,
		int	numLandmarkBlocks,
		int	totalDim
	)		`[protected]`

Definition at line 55 of file block_solver.hpp.

template<typename Traits>

virtual bool g2o::BlockSolver< Traits >::schur ( ) [inline, virtual]

should the solver perform the schur complement or not

Implements g2o::Solver.

Definition at line 118 of file block_solver.h.

template<typename Traits >

bool g2o::BlockSolver< Traits >::setLambda ( double lambda ) [virtual]

update the system while performing Levenberg, i.e., modifying the diagonal components of A by doing += lambda along the main diagonal of the Matrix. Note that this function may be called with a positive and a negative lambda. The latter is used to undo a former modification.

Implements g2o::Solver.

Definition at line 906 of file block_solver.hpp.

template<typename Traits>

virtual void g2o::BlockSolver< Traits >::setSchur ( bool s ) [inline, virtual]

Implements g2o::Solver.

Definition at line 119 of file block_solver.h.

template<typename Traits >

bool g2o::BlockSolver< Traits >::solve ( ) [virtual]

solve Ax = b

¿¿¿¿ QUE PASA SI EL EDGE TIENE MAS DE 2 VERTICES ????

Implements g2o::Solver.

Definition at line 523 of file block_solver.hpp.

template<typename Traits>

virtual bool g2o::BlockSolver< Traits >::supportsSchur ( ) [inline, virtual]

does this solver support the Schur complement for solving a system consisting of poses and landmarks. Re-implemement in a derived solver, if your solver supports it.

Reimplemented from g2o::Solver.

Definition at line 117 of file block_solver.h.

template<typename Traits >