#include <graph_optimizer_hchol.h>

Inheritance diagram for AISNavigation::HCholOptimizer< PG >:

Classes
struct	HVertex
Public Types
typedef std::set< HVertex * >	HVertexSet
typedef std::set< HVertex * >	HVertexSet
Public Member Functions
virtual PG::Edge *	addEdge (typename PG::Vertex from, typename PG::Vertex to, const typename PG::TransformationType &mean, const typename PG::InformationType &information)
virtual PG::Edge *	addEdge (typename PG::Vertex from, typename PG::Vertex to, const typename PG::TransformationType &mean, const typename PG::InformationType &information)
virtual PG::Vertex *	addVertex (const int &k)
virtual PG::Vertex *	addVertex (const int &k)
virtual PG::Vertex *	addVertex (int id, const typename PG::TransformationType &pose, const typename PG::InformationType &information)
virtual PG::Vertex *	addVertex (int id, const typename PG::TransformationType &pose, const typename PG::InformationType &information)
void	annotateHiearchicalEdgeOnDenseGraph (typename PG::TransformationType &mean, typename PG::InformationType &info, typename PG::Edge *e, int iterations, double lambda, bool initWithObservations)
void	annotateHiearchicalEdgeOnDenseGraph (typename PG::TransformationType &mean, typename PG::InformationType &info, typename PG::Edge *e, int iterations, double lambda, bool initWithObservations)
void	computeTopLevelDenseGraph (CholOptimizer< PG > *chol, int iterations, int lambda, int initWithObservations)
void	computeTopLevelDenseGraph (CholOptimizer< PG > *chol, int iterations, int lambda, int initWithObservations)
int &	edgeAnnotationIterations ()
int &	edgeAnnotationIterations ()
int &	globalIncrementalIterations ()
int &	globalIncrementalIterations ()
	HCholOptimizer (double maxDistance=3.)
	HCholOptimizer (double maxDistance=3.)
	HCholOptimizer (HCholOptimizer< PG > *lowerLevel, double maxDistance=3.)
	HCholOptimizer (HCholOptimizer< PG > *lowerLevel, double maxDistance=3.)
	HCholOptimizer (int nLevels, double maxDistance=3.)
	HCholOptimizer (int nLevels, double maxDistance=3.)
HCholOptimizer< PG > *	level (int i)
HCholOptimizer< PG > *	level (int i)
double &	maxDistance ()
double &	maxDistance ()
int	nLevels () const
int	nLevels () const
bool &	online ()
bool &	online ()
virtual int	optimize (int iterations, bool online=false)
virtual int	optimize (int iterations, bool online=false)
bool &	propagateDown ()
bool &	propagateDown ()
virtual void	refineEdge (typename PG::Edge *_e, const typename PG::TransformationType &mean, const typename PG::InformationType &information)
virtual void	refineEdge (typename PG::Edge *_e, const typename PG::TransformationType &mean, const typename PG::InformationType &information)
virtual bool	removeEdge (Graph::Edge *e)
virtual bool	removeEdge (Graph::Edge *e)
virtual bool	removeVertex (Graph::Vertex *v)
virtual bool	removeVertex (Graph::Vertex *v)
virtual	~HCholOptimizer ()
virtual	~HCholOptimizer ()
Protected Member Functions
void	addVertexToUpperLevels (HVertex *v)
void	addVertexToUpperLevels (HVertex *v)
void	annotateHiearchicalEdge (typename PG::Edge *e, int iterations, double lambda, bool initWithObservations)
void	annotateHiearchicalEdge (typename PG::Edge *e, int iterations, double lambda, bool initWithObservations)
void	annotateHiearchicalEdges (int iterations, double lambda, bool initWithObservations)
void	annotateHiearchicalEdges (int iterations, double lambda, bool initWithObservations)
void	annotateHierarchicalEdgesIncremental (HVertex *v)
void	annotateHierarchicalEdgesIncremental (HVertex *v)
void	bottomToTop (int iterations, double lambda, bool initWithObservations)
void	bottomToTop (int iterations, double lambda, bool initWithObservations)
double	cachedChi () const
double	cachedChi () const
void	cleanupTainted ()
void	cleanupTainted ()
virtual void	clear ()
virtual void	clear ()
void	detachChildren (HVertex *v)
void	detachChildren (HVertex *v)
bool	optimizeLevels (bool propagateDown)
bool	optimizeLevels (bool propagateDown)
bool	optimizePendingIncremental ()
bool	optimizePendingIncremental ()
bool	optimizeUpperLevelIncremental ()
bool	optimizeUpperLevelIncremental ()
void	postprocessIncremental (HVertex *v)
void	postprocessIncremental (HVertex *v)
void	propagateDownIncremental (HVertex *to)
void	propagateDownIncremental (HVertex *to)
void	propagateDownIncremental (HVertex *to, double lambda)
void	propagateDownIncremental (HVertex *to, double lambda)
void	topToBottom (int iterations, double lambda)
void	topToBottom (int iterations, double lambda)
void	updateStructure (bool incremental)
void	updateStructure (bool incremental)
void	vCycle (int iterations, double lambdaUp, double lambdaDown, bool initWithObservations)
void	vCycle (int iterations, double lambdaUp, double lambdaDown, bool initWithObservations)
Protected Attributes
double	_cachedChi
int	_downIncrementalIterations
int	_edgeAnnotationIncrementalIterations
int	_globalIncrementalIterations
bool	_gnuplot
double	_lastOptChi
HCholOptimizer< PG > *	_lowerOptimizer
double	_maxDistance
int	_nVerticesPropagatedDownIncremental
bool	_online
bool	_propagateDown
std::set< int >	_rootIDs
double	_rotationalPropagationError
double	_translationalPropagationError
HCholOptimizer< PG > *	_upperOptimizer
Friends
struct	HVertex

Detailed Description

template<typename PG>
struct AISNavigation::HCholOptimizer< PG >

Definition at line 25 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol.h.

Member Typedef Documentation

template<typename PG>

typedef std::set<HVertex*> AISNavigation::HCholOptimizer< PG >::HVertexSet

Definition at line 62 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol.h.

template<typename PG>

typedef std::set<HVertex*> AISNavigation::HCholOptimizer< PG >::HVertexSet

Definition at line 62 of file src/graph_optimizer_hogman/graph_optimizer_hchol.h.

Constructor & Destructor Documentation

template<typename PG >

AISNavigation::HCholOptimizer< PG >::HCholOptimizer ( double maxDistance = 3. )

Definition at line 32 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol.hpp.

template<typename PG >

AISNavigation::HCholOptimizer< PG >::HCholOptimizer	(	HCholOptimizer< PG > *	lowerLevel,
		double	maxDistance = `3.`
	)

Definition at line 51 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol.hpp.

template<typename PG >

AISNavigation::HCholOptimizer< PG >::HCholOptimizer	(	int	nLevels,
		double	maxDistance = `3.`
	)

Definition at line 72 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol.hpp.

template<typename PG >

AISNavigation::HCholOptimizer< PG >::~HCholOptimizer ( ) [virtual]

Definition at line 94 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol.hpp.

template<typename PG>

AISNavigation::HCholOptimizer< PG >::HCholOptimizer ( double maxDistance = 3. )

template<typename PG>

AISNavigation::HCholOptimizer< PG >::HCholOptimizer	(	HCholOptimizer< PG > *	lowerLevel,
		double	maxDistance = `3.`
	)

template<typename PG>

AISNavigation::HCholOptimizer< PG >::HCholOptimizer	(	int	nLevels,
		double	maxDistance = `3.`
	)

template<typename PG>

virtual AISNavigation::HCholOptimizer< PG >::~HCholOptimizer ( ) [virtual]

Member Function Documentation

template<typename PG >

PG::Edge * AISNavigation::HCholOptimizer< PG >::addEdge	(	typename PG::Vertex *	from,
		typename PG::Vertex *	to,
		const typename PG::TransformationType &	mean,
		const typename PG::InformationType &	information
	)		`[virtual]`

Reimplemented from AISNavigation::CholOptimizer< PG >.

Definition at line 106 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol_aux.hpp.

template<typename PG>

virtual PG::Edge* AISNavigation::HCholOptimizer< PG >::addEdge	(	typename PG::Vertex *	from,
		typename PG::Vertex *	to,
		const typename PG::TransformationType &	mean,
		const typename PG::InformationType &	information
	)		`[virtual]`

Reimplemented from AISNavigation::CholOptimizer< PG >.

template<typename PG >

PG::Vertex * AISNavigation::HCholOptimizer< PG >::addVertex ( const int & k ) [virtual]

Definition at line 81 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol_aux.hpp.

template<typename PG>

virtual PG::Vertex* AISNavigation::HCholOptimizer< PG >::addVertex ( const int & k ) [virtual]

template<typename PG>

virtual PG::Vertex* AISNavigation::HCholOptimizer< PG >::addVertex	(	int	id,
		const typename PG::TransformationType &	pose,
		const typename PG::InformationType &	information
	)		`[virtual]`

template<typename PG >

PG::Vertex * AISNavigation::HCholOptimizer< PG >::addVertex	(	int	id,
		const typename PG::TransformationType &	pose,
		const typename PG::InformationType &	information
	)		`[virtual]`

Definition at line 92 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol_aux.hpp.

template<typename PG >

void AISNavigation::HCholOptimizer< PG >::addVertexToUpperLevels ( HVertex * v ) [protected]

Definition at line 169 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol_aux.hpp.

template<typename PG>

void AISNavigation::HCholOptimizer< PG >::addVertexToUpperLevels ( HVertex * v ) [protected]

template<typename PG >

void AISNavigation::HCholOptimizer< PG >::annotateHiearchicalEdge	(	typename PG::Edge *	e,
		int	iterations,
		double	lambda,
		bool	initWithObservations
	)		`[protected]`

Definition at line 138 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol.hpp.

template<typename PG>

void AISNavigation::HCholOptimizer< PG >::annotateHiearchicalEdge	(	typename PG::Edge *	e,
		int	iterations,
		double	lambda,
		bool	initWithObservations
	)		`[protected]`

template<typename PG>

void AISNavigation::HCholOptimizer< PG >::annotateHiearchicalEdgeOnDenseGraph	(	typename PG::TransformationType &	mean,
		typename PG::InformationType &	info,
		typename PG::Edge *	e,
		int	iterations,
		double	lambda,
		bool	initWithObservations
	)

template<typename PG >

void AISNavigation::HCholOptimizer< PG >::annotateHiearchicalEdgeOnDenseGraph	(	typename PG::TransformationType &	mean,
		typename PG::InformationType &	info,
		typename PG::Edge *	e,
		int	iterations,
		double	lambda,
		bool	initWithObservations
	)

Definition at line 177 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol.hpp.

template<typename PG >

void AISNavigation::HCholOptimizer< PG >::annotateHiearchicalEdges	(	int	iterations,
		double	lambda,
		bool	initWithObservations
	)		`[protected]`

Definition at line 32 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol_batch.hpp.

template<typename PG>

void AISNavigation::HCholOptimizer< PG >::annotateHiearchicalEdges	(	int	iterations,
		double	lambda,
		bool	initWithObservations
	)		`[protected]`

template<typename PG >

void AISNavigation::HCholOptimizer< PG >::annotateHierarchicalEdgesIncremental ( HVertex * v ) [protected]

Definition at line 174 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol_incremental.hpp.

template<typename PG>

void AISNavigation::HCholOptimizer< PG >::annotateHierarchicalEdgesIncremental ( HVertex * v ) [protected]

template<typename PG >

void AISNavigation::HCholOptimizer< PG >::bottomToTop	(	int	iterations,
		double	lambda,
		bool	initWithObservations
	)		`[protected]`

Definition at line 44 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol_batch.hpp.

template<typename PG>

void AISNavigation::HCholOptimizer< PG >::bottomToTop	(	int	iterations,
		double	lambda,
		bool	initWithObservations
	)		`[protected]`

template<typename PG>

double AISNavigation::HCholOptimizer< PG >::cachedChi ( ) const [inline, protected]

Definition at line 110 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol.h.

template<typename PG>

double AISNavigation::HCholOptimizer< PG >::cachedChi ( ) const [inline, protected]

Definition at line 110 of file src/graph_optimizer_hogman/graph_optimizer_hchol.h.

template<typename PG >

void AISNavigation::HCholOptimizer< PG >::cleanupTainted ( ) [protected]

Definition at line 184 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol_aux.hpp.

template<typename PG>

void AISNavigation::HCholOptimizer< PG >::cleanupTainted ( ) [protected]

template<typename PG >

void AISNavigation::HCholOptimizer< PG >::clear ( void ) [protected, virtual]

Definition at line 102 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol.hpp.

template<typename PG>

virtual void AISNavigation::HCholOptimizer< PG >::clear ( ) [protected, virtual]

template<typename PG>

void AISNavigation::HCholOptimizer< PG >::computeTopLevelDenseGraph	(	CholOptimizer< PG > *	chol,
		int	iterations,
		int	lambda,
		int	initWithObservations
	)

template<typename PG >

void AISNavigation::HCholOptimizer< PG >::computeTopLevelDenseGraph	(	CholOptimizer< PG > *	chol,
		int	iterations,
		int	lambda,
		int	initWithObservations
	)

Definition at line 233 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol.hpp.

template<typename PG>

void AISNavigation::HCholOptimizer< PG >::detachChildren ( HVertex * v ) [protected]

template<typename PG>

void AISNavigation::HCholOptimizer< PG >::detachChildren ( HVertex * v ) [protected]

template<typename PG>

int& AISNavigation::HCholOptimizer< PG >::edgeAnnotationIterations ( ) [inline]

Definition at line 72 of file src/graph_optimizer_hogman/graph_optimizer_hchol.h.

template<typename PG>

int& AISNavigation::HCholOptimizer< PG >::edgeAnnotationIterations ( ) [inline]

Definition at line 72 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol.h.

template<typename PG>

int& AISNavigation::HCholOptimizer< PG >::globalIncrementalIterations ( ) [inline]

Definition at line 73 of file src/graph_optimizer_hogman/graph_optimizer_hchol.h.

template<typename PG>

int& AISNavigation::HCholOptimizer< PG >::globalIncrementalIterations ( ) [inline]

Definition at line 73 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol.h.

template<typename PG >

HCholOptimizer< PG > * AISNavigation::HCholOptimizer< PG >::level ( int i )

Definition at line 123 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol.hpp.

template<typename PG>

HCholOptimizer<PG>* AISNavigation::HCholOptimizer< PG >::level ( int i )

template<typename PG>

double& AISNavigation::HCholOptimizer< PG >::maxDistance ( ) [inline]

Definition at line 70 of file src/graph_optimizer_hogman/graph_optimizer_hchol.h.

template<typename PG>

double& AISNavigation::HCholOptimizer< PG >::maxDistance ( ) [inline]

Definition at line 70 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol.h.

template<typename PG>

int AISNavigation::HCholOptimizer< PG >::nLevels ( ) const

template<typename PG >

int AISNavigation::HCholOptimizer< PG >::nLevels ( ) const

Definition at line 111 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol.hpp.

template<typename PG>

bool& AISNavigation::HCholOptimizer< PG >::online ( ) [inline]

Definition at line 69 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol.h.

template<typename PG>

bool& AISNavigation::HCholOptimizer< PG >::online ( ) [inline]

Definition at line 69 of file src/graph_optimizer_hogman/graph_optimizer_hchol.h.

template<typename PG>

virtual int AISNavigation::HCholOptimizer< PG >::optimize	(	int	iterations,
		bool	online = `false`
	)		`[virtual]`

Reimplemented from AISNavigation::CholOptimizer< PG >.

template<typename PG >

int AISNavigation::HCholOptimizer< PG >::optimize	(	int	iterations,
		bool	online = `false`
	)		`[virtual]`

Reimplemented from AISNavigation::CholOptimizer< PG >.

Definition at line 261 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol.hpp.

template<typename PG >

bool AISNavigation::HCholOptimizer< PG >::optimizeLevels ( bool propagateDown ) [protected]

Definition at line 114 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol_incremental.hpp.

template<typename PG>

bool AISNavigation::HCholOptimizer< PG >::optimizeLevels ( bool propagateDown ) [protected]

template<typename PG >

bool AISNavigation::HCholOptimizer< PG >::optimizePendingIncremental ( ) [protected]

Definition at line 31 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol_incremental.hpp.

template<typename PG>

bool AISNavigation::HCholOptimizer< PG >::optimizePendingIncremental ( ) [protected]

template<typename PG>

bool AISNavigation::HCholOptimizer< PG >::optimizeUpperLevelIncremental ( ) [protected]

template<typename PG >

bool AISNavigation::HCholOptimizer< PG >::optimizeUpperLevelIncremental ( ) [protected]

Definition at line 195 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol_incremental.hpp.

template<typename PG>

void AISNavigation::HCholOptimizer< PG >::postprocessIncremental ( HVertex * v ) [protected]

template<typename PG >

void AISNavigation::HCholOptimizer< PG >::postprocessIncremental ( HVertex * v ) [protected]

Definition at line 69 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol_incremental.hpp.

template<typename PG>

bool& AISNavigation::HCholOptimizer< PG >::propagateDown ( ) [inline]

Definition at line 71 of file src/graph_optimizer_hogman/graph_optimizer_hchol.h.

template<typename PG>

bool& AISNavigation::HCholOptimizer< PG >::propagateDown ( ) [inline]

Definition at line 71 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol.h.

template<typename PG>

void AISNavigation::HCholOptimizer< PG >::propagateDownIncremental ( HVertex * to ) [protected]

template<typename PG >

void AISNavigation::HCholOptimizer< PG >::propagateDownIncremental ( HVertex * to ) [protected]

Definition at line 88 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol_incremental.hpp.

template<typename PG>

void AISNavigation::HCholOptimizer< PG >::propagateDownIncremental	(	HVertex *	to,
		double	lambda
	)		`[protected]`

template<typename PG >

void AISNavigation::HCholOptimizer< PG >::propagateDownIncremental	(	HVertex *	to,
		double	lambda
	)		`[protected]`

Definition at line 76 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol_incremental.hpp.

template<typename PG >

void AISNavigation::HCholOptimizer< PG >::refineEdge	(	typename PG::Edge *	_e,
		const typename PG::TransformationType &	mean,
		const typename PG::InformationType &	information
	)		`[virtual]`

Definition at line 124 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_hchol_aux.hpp.

template<typename PG>

virtual void AISNavigation::HCholOptimizer< PG >::refineEdge	(	typename PG::Edge *	_e,
		const typename PG::TransformationType &	mean,
		const typename PG::InformationType &	information
	)		`[virtual]`