#include <graph_optimizer_sparse_incremental.h>

Inheritance diagram for g2o::SparseOptimizerIncremental:

Public Member Functions
virtual bool	initSolver (int dimension, int batchEveryN)
int	optimize (int iterations, bool online=false)
	SparseOptimizerIncremental ()
virtual bool	updateInitialization (HyperGraph::VertexSet &vset, HyperGraph::EdgeSet &eset)
	~SparseOptimizerIncremental ()
Protected Member Functions
bool	computeCholeskyUpdate ()
Protected Attributes
cholmod_common	_cholmodCommon
cholmod_factor *	_cholmodFactor
CholmodExt *	_cholmodSparse
Eigen::VectorXi	_cmember
cholmod_factor *	_L
Eigen::VectorXi	_perm
cholmod_triplet *	_permutedUpdate
LinearSolverCholmodOnlineInterface *	_solverInterface
HyperGraph::VertexSet	_touchedVertices
SparseBlockMatrix< MatrixXd >	_updateMat

Detailed Description

Definition at line 27 of file graph_optimizer_sparse_incremental.h.

Constructor & Destructor Documentation

g2o::SparseOptimizerIncremental::SparseOptimizerIncremental ( )

Definition at line 54 of file graph_optimizer_sparse_incremental.cpp.

g2o::SparseOptimizerIncremental::~SparseOptimizerIncremental ( )

Definition at line 72 of file graph_optimizer_sparse_incremental.cpp.

Member Function Documentation

bool g2o::SparseOptimizerIncremental::computeCholeskyUpdate ( ) [protected]

Definition at line 383 of file graph_optimizer_sparse_incremental.cpp.

bool g2o::SparseOptimizerIncremental::initSolver	(	int	dimension,
		int	batchEveryN
	)		`[virtual]`

Reimplemented from g2o::SparseOptimizerOnline.

Definition at line 456 of file graph_optimizer_sparse_incremental.cpp.

int g2o::SparseOptimizerIncremental::optimize	(	int	iterations,
		bool	online = `false`
	)		`[virtual]`

Starts one optimization run given the current configuration of the graph, and the current settings stored in the class instance. It can be called only after initializeOptimization

Reimplemented from g2o::SparseOptimizerOnline.

Definition at line 84 of file graph_optimizer_sparse_incremental.cpp.