Prior for a two D pose. More...

#include <edge_se2_prior.h>

Inheritance diagram for g2o::EdgeSE2Prior:

Public Member Functions
void	computeError ()
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	EdgeSE2Prior ()
virtual bool	getMeasurementData (double *d) const
virtual void	initialEstimate (const OptimizableGraph::VertexSet &from, OptimizableGraph::Vertex *to)
virtual double	initialEstimatePossible (const OptimizableGraph::VertexSet &, OptimizableGraph::Vertex *)
int	measurementDimension () const
virtual bool	read (std::istream &is)
	read the vertex from a stream, i.e., the internal state of the vertex
virtual bool	setMeasurementData (const double *d)
virtual bool	write (std::ostream &os) const
	write the vertex to a stream

Detailed Description

Prior for a two D pose.

Definition at line 28 of file edge_se2_prior.h.

Constructor & Destructor Documentation

g2o::EdgeSE2Prior::EdgeSE2Prior ( )

Definition at line 21 of file edge_se2_prior.cpp.

Member Function Documentation

void g2o::EdgeSE2Prior::computeError ( ) [inline, virtual]

Implements g2o::OptimizableGraph::Edge.

Definition at line 34 of file edge_se2_prior.h.

virtual bool g2o::EdgeSE2Prior::getMeasurementData ( double * m ) const [inline, virtual]

writes the measurement to an array of double

Returns:: true on success

Reimplemented from g2o::OptimizableGraph::Edge.

Definition at line 47 of file edge_se2_prior.h.

void g2o::EdgeSE2Prior::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::BaseUnaryEdge< 3, SE2, VertexSE2 >.

Definition at line 25 of file edge_se2_prior.cpp.

virtual double g2o::EdgeSE2Prior::initialEstimatePossible	(	const OptimizableGraph::VertexSet &	from,
		OptimizableGraph::Vertex *	to
	)		`[inline, virtual]`

override in your class if it's possible to initialize the vertices in certain combinations. The return value may correspond to the cost for initiliaizng the vertex but should be positive if the initialization is possible and negative if not possible.

Reimplemented from g2o::OptimizableGraph::Edge.

Definition at line 60 of file edge_se2_prior.h.

int g2o::EdgeSE2Prior::measurementDimension ( ) const [inline, virtual]

returns the dimension of the measurement in the extended representation which is used by get/setMeasurement;

Reimplemented from g2o::OptimizableGraph::Edge.

Definition at line 55 of file edge_se2_prior.h.

bool g2o::EdgeSE2Prior::read ( std::istream & is ) [virtual]

read the vertex from a stream, i.e., the internal state of the vertex

Implements g2o::OptimizableGraph::Edge.

Definition at line 32 of file edge_se2_prior.cpp.

virtual bool g2o::EdgeSE2Prior::setMeasurementData ( const double * m ) [inline, virtual]

sets the measurement from an array of double