#include <edge_se3_quat.h>

Inheritance diagram for g2o::EdgeSE3:

Public Member Functions
void	computeError ()
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	EdgeSE3 ()
virtual bool	getMeasurementData (double *d) const
virtual void	initialEstimate (const OptimizableGraph::VertexSet &from, OptimizableGraph::Vertex *to)
virtual double	initialEstimatePossible (const OptimizableGraph::VertexSet &, OptimizableGraph::Vertex *)
virtual void	linearizeOplus ()
virtual int	measurementDimension () const
virtual bool	read (std::istream &is)
	read the vertex from a stream, i.e., the internal state of the vertex
virtual void	setMeasurement (const SE3Quat &m)
virtual bool	setMeasurementData (const double *d)
virtual bool	setMeasurementFromState ()
virtual bool	write (std::ostream &os) const
	write the vertex to a stream

Detailed Description

3D edge between two VertexSE3

Definition at line 38 of file edge_se3_quat.h.

Constructor & Destructor Documentation

g2o::EdgeSE3::EdgeSE3 ( )

Definition at line 38 of file edge_se3_quat.cpp.

Member Function Documentation

void g2o::EdgeSE3::computeError ( ) [inline, virtual]

Implements g2o::OptimizableGraph::Edge.

Definition at line 43 of file edge_se3_quat.h.

virtual bool g2o::EdgeSE3::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 71 of file edge_se3_quat.h.

void g2o::EdgeSE3::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, SE3Quat >.

Reimplemented in g2o::OnlineEdgeSE3.

Definition at line 79 of file edge_se3_quat.cpp.

virtual double g2o::EdgeSE3::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 85 of file edge_se3_quat.h.

void g2o::EdgeSE3::linearizeOplus ( ) [virtual]

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

Reimplemented from g2o::BaseBinaryEdge< 6, SE3Quat, VertexSE3, VertexSE3 >.

Definition at line 90 of file edge_se3_quat.cpp.

virtual int g2o::EdgeSE3::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 78 of file edge_se3_quat.h.

bool g2o::EdgeSE3::read ( std::istream & is ) [virtual]

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