#include <optimizable_graph.h>

Inheritance diagram for g2o::OptimizableGraph:

Classes
struct	Data
	data packet for a vertex. Extend this class to store in the vertices the potential additional information you need (e.g. images, laser scans, ...). More...
class	Edge
struct	EdgeIDCompare
	order edges based on the internal ID, which is assigned to the edge in addEdge() More...
class	Vertex
	A general case Vertex for optimization. More...
struct	VertexIDCompare
	order vertices based on their ID More...
Public Types
enum	ActionType { AT_PREITERATION, AT_POSTITERATION, AT_NUM_ELEMENTS }
typedef std::vector < OptimizableGraph::Edge * >	EdgeContainer
	vector container for edges
typedef std::set < HyperGraphAction * >	HyperGraphActionSet
typedef std::vector < OptimizableGraph::Vertex * >	VertexContainer
	vector container for vertices
Public Member Functions
virtual bool	addEdge (OptimizableGraph::Edge *e)
void	addGraph (OptimizableGraph *g)
	adds all edges and vertices of the graph g to this graph.
bool	addPostIterationAction (HyperGraphAction *action)
	add an action to be executed after each iteration
bool	addPreIterationAction (HyperGraphAction *action)
	add an action to be executed before each iteration
virtual bool	addVertex (OptimizableGraph::Vertex v, Data userData=0)
double	chi2 () const
	returns the chi2 of the current configuration
std::set< int >	dimensions () const
virtual void	discardTop ()
	discard the last backup of the estimate for all variables by removing it from the stack
virtual void	discardTop (HyperGraph::VertexSet &vset)
	ignore the latest stored element on the stack, remove it from the stack but do not restore the estimate
bool	isSolverSuitable (const SolverProperty &solverProperty, const std::set< int > &vertDims=std::set< int >()) const
virtual bool	load (std::istream &is, bool createEdges=true)
	load the graph from a stream. Uses the Factory singleton for creating the vertices and edges.
bool	load (const char *filename, bool createEdges=true)
int	maxDimension () const
	return the maximum dimension of all vertices in the graph
	OptimizableGraph ()
	empty constructor
virtual int	optimize (int iterations, bool online=false)
virtual void	pop ()
	pop (restore) the estimate of all variables from the stack
virtual void	pop (HyperGraph::VertexSet &vset)
	pop (restore) the estimate a subset of the variables from the stack
virtual void	postIteration (int)
	called at the end of an iteration (argument is the number of the iteration)
virtual void	preIteration (int)
	called at the beginning of an iteration (argument is the number of the iteration)
virtual void	push ()
	push the estimate of all variables onto a stack
virtual void	push (HyperGraph::VertexSet &vset)
	push the estimate of a subset of the variables onto a stack
bool	removePostIterationAction (HyperGraphAction *action)
	remove an action that should no longer be execured after each iteration
bool	removePreIterationAction (HyperGraphAction *action)
	remove an action that should no longer be execured before each iteration
virtual bool	save (std::ostream &os, int level=0) const
	save the graph to a stream. Again uses the Factory system.
bool	save (const char *filename, int level=0) const
	function provided for convenience, see save() above
bool	saveSubset (std::ostream &os, HyperGraph::VertexSet &vset, int level=0)
	save a subgraph to a stream. Again uses the Factory system.
bool	saveSubset (std::ostream &os, HyperGraph::EdgeSet &eset)
	save a subgraph to a stream. Again uses the Factory system.
virtual void	setFixed (HyperGraph::VertexSet &vset, bool fixed)
	fixes/releases a set of vertices
void	setRenamedTypesFromString (const std::string &types)
Vertex *	vertex (int id)
	returns the vertex number id appropriately casted
const Vertex *	vertex (int id) const
	returns the vertex number id appropriately casted
virtual	~OptimizableGraph ()
Protected Attributes
bool	_edge_has_id
std::vector< HyperGraphActionSet >	_graphActions
OptimizableGraph *	_lowerGraph
long long	_nextEdgeId
std::list< Vertex * >	_partialList
	this is the list of higher level vertices which need to be deleted.
std::map< std::string, std::string >	_renamedTypesLookup
std::list< Vertex * >	_taintedList
	this is the list of higher level vertices whose connectivity and information has to be recomputed
OptimizableGraph *	_upperGraph

Detailed Description

This is an abstract class that represents one optimization problem. It specializes the general graph to contain special vertices and edges. The vertices represent parameters that can be optimized, while the edges represent constraints. This class also provides basic functionalities to handle the backup/restore of portions of the vertices.

Definition at line 46 of file optimizable_graph.h.

Member Typedef Documentation

typedef std::vector<OptimizableGraph::Edge*> g2o::OptimizableGraph::EdgeContainer

vector container for edges

Definition at line 95 of file optimizable_graph.h.

typedef std::set<HyperGraphAction*> g2o::OptimizableGraph::HyperGraphActionSet

Definition at line 53 of file optimizable_graph.h.

typedef std::vector<OptimizableGraph::Vertex*> g2o::OptimizableGraph::VertexContainer

vector container for vertices

Definition at line 93 of file optimizable_graph.h.

Member Enumeration Documentation

enum g2o::OptimizableGraph::ActionType

Enumerator:

AT_PREITERATION
AT_POSTITERATION
AT_NUM_ELEMENTS

Definition at line 48 of file optimizable_graph.h.

Constructor & Destructor Documentation

g2o::OptimizableGraph::OptimizableGraph ( )

empty constructor

Definition at line 121 of file optimizable_graph.cpp.

g2o::OptimizableGraph::~OptimizableGraph ( ) [virtual]

Definition at line 127 of file optimizable_graph.cpp.

Member Function Documentation

bool g2o::OptimizableGraph::addEdge ( OptimizableGraph::Edge * e ) [virtual]

adds a new edge. The edge should point to the vertices that it is connecting (setFrom/setTo).

Returns:: false if the insertion does not work (incompatible types of the vertices/missing vertex). true otherwise.

Definition at line 146 of file optimizable_graph.cpp.

void g2o::OptimizableGraph::addGraph ( OptimizableGraph * g )

adds all edges and vertices of the graph g to this graph.

Definition at line 544 of file optimizable_graph.cpp.

bool g2o::OptimizableGraph::addPostIterationAction ( HyperGraphAction * action )

add an action to be executed after each iteration

Definition at line 658 of file optimizable_graph.cpp.

bool g2o::OptimizableGraph::addPreIterationAction ( HyperGraphAction * action )

add an action to be executed before each iteration

Definition at line 664 of file optimizable_graph.cpp.

bool g2o::OptimizableGraph::addVertex	(	OptimizableGraph::Vertex *	v,
		Data *	userData = `0`
	)		`[virtual]`

adds a new vertex. The new vertex is then "taken".

Returns:: false if a vertex with the same id as v is already in the graph, true otherwise.

Definition at line 132 of file optimizable_graph.cpp.

double g2o::OptimizableGraph::chi2 ( ) const

returns the chi2 of the current configuration

Definition at line 157 of file optimizable_graph.cpp.

std::set< int > g2o::OptimizableGraph::dimensions ( ) const

iterates over all vertices and returns a set of all the vertex dimensions in the graph

Definition at line 626 of file optimizable_graph.cpp.

void g2o::OptimizableGraph::discardTop ( ) [virtual]

discard the last backup of the estimate for all variables by removing it from the stack

Definition at line 183 of file optimizable_graph.cpp.

void g2o::OptimizableGraph::discardTop ( HyperGraph::VertexSet & vset ) [virtual]

ignore the latest stored element on the stack, remove it from the stack but do not restore the estimate

Definition at line 207 of file optimizable_graph.cpp.

bool g2o::OptimizableGraph::isSolverSuitable	(	const SolverProperty &	solverProperty,
		const std::set< int > &	vertDims = `std::set<int>()`
	)		const

test whether a solver is suitable for optimizing this graph.

Parameters:

solverProperty	the solver property to evaluate.
vertDims	should equal to the set returned by dimensions() to avoid re-evaluating.

Definition at line 603 of file optimizable_graph.cpp.

virtual bool g2o::OptimizableGraph::load	(	std::istream &	is,
		bool	createEdges = `true`
	)		`[virtual]`

load the graph from a stream. Uses the Factory singleton for creating the vertices and edges.

bool g2o::OptimizableGraph::load	(	const char *	filename,
		bool	createEdges = `true`
	)

Definition at line 376 of file optimizable_graph.cpp.

int g2o::OptimizableGraph::maxDimension ( ) const

return the maximum dimension of all vertices in the graph

Definition at line 568 of file optimizable_graph.cpp.

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

carry out n iterations

Returns:: the number of performed iterations

Reimplemented in g2o::SparseOptimizer, g2o::SparseOptimizerIncremental, and g2o::SparseOptimizerOnline.

Definition at line 155 of file optimizable_graph.cpp.

void g2o::OptimizableGraph::pop ( ) [virtual]

pop (restore) the estimate of all variables from the stack

Definition at line 175 of file optimizable_graph.cpp.

void g2o::OptimizableGraph::pop ( HyperGraph::VertexSet & vset ) [virtual]

pop (restore) the estimate a subset of the variables from the stack

Reimplemented in g2o::SparseOptimizer.

Definition at line 199 of file optimizable_graph.cpp.

void g2o::OptimizableGraph::postIteration ( int iter ) [virtual]

called at the end of an iteration (argument is the number of the iteration)

Definition at line 647 of file optimizable_graph.cpp.

void g2o::OptimizableGraph::preIteration ( int iter ) [virtual]

called at the beginning of an iteration (argument is the number of the iteration)

Definition at line 636 of file optimizable_graph.cpp.

void g2o::OptimizableGraph::push ( ) [virtual]

push the estimate of all variables onto a stack

Definition at line 167 of file optimizable_graph.cpp.

void g2o::OptimizableGraph::push ( HyperGraph::VertexSet & vset ) [virtual]

push the estimate of a subset of the variables onto a stack

Reimplemented in g2o::SparseOptimizer.

Definition at line 191 of file optimizable_graph.cpp.

bool g2o::OptimizableGraph::removePostIterationAction ( HyperGraphAction * action )

remove an action that should no longer be execured after each iteration

Definition at line 675 of file optimizable_graph.cpp.

bool g2o::OptimizableGraph::removePreIterationAction ( HyperGraphAction * action )

remove an action that should no longer be execured before each iteration

Definition at line 670 of file optimizable_graph.cpp.

virtual bool g2o::OptimizableGraph::save	(	std::ostream &	os,
		int	level = `0`
	)		const `[virtual]`

save the graph to a stream. Again uses the Factory system.

bool g2o::OptimizableGraph::save	(	const char *	filename,
		int	level = `0`
	)		const

function provided for convenience, see save() above

Definition at line 386 of file optimizable_graph.cpp.

bool g2o::OptimizableGraph::saveSubset	(	std::ostream &	os,
		HyperGraph::VertexSet &	vset,
		int	level = `0`
	)

save a subgraph to a stream. Again uses the Factory system.

bool g2o::OptimizableGraph::saveSubset	(	std::ostream &	os,
		HyperGraph::EdgeSet &	eset
	)

save a subgraph to a stream. Again uses the Factory system.

void g2o::OptimizableGraph::setFixed	(	HyperGraph::VertexSet &	vset,
		bool	fixed
	)		`[virtual]`

fixes/releases a set of vertices

Definition at line 215 of file optimizable_graph.cpp.

void g2o::OptimizableGraph::setRenamedTypesFromString ( const std::string & types )

set the renamed types lookup from a string, format is for example: VERTEX_CAM=VERTEX_SE3:EXPMAP,EDGE_PROJECT_P2MC=EDGE_PROJECT_XYZ:EXPMAP This will change the occurance of VERTEX_CAM in the file to VERTEX_SE3:EXPMAP

Definition at line 577 of file optimizable_graph.cpp.

Vertex* g2o::OptimizableGraph::vertex ( int id ) [inline]

returns the vertex number id appropriately casted

Reimplemented from g2o::HyperGraph.

Definition at line 403 of file optimizable_graph.h.

const Vertex* g2o::OptimizableGraph::vertex ( int id ) const [inline]