Public Types | Public Member Functions | Static Public Attributes | Protected Member Functions | Protected Attributes | List of all members
g2o::BaseEdge< D, E > Class Template Reference

#include <base_edge.h>

Inheritance diagram for g2o::BaseEdge< D, E >:
Inheritance graph
[legend]

Public Types

typedef Matrix< double, D, 1 > ErrorVector
 
typedef Matrix< double, D, D > InformationType
 
typedef E Measurement
 

Public Member Functions

 BaseEdge ()
 
virtual double chi2 () const
 computes the chi2 based on the cached error value, only valid after computeError has been called. More...
 
const ErrorVectorerror () const
 
ErrorVectorerror ()
 
virtual const double * errorData () const
 returns the error vector cached after calling the computeError; More...
 
virtual double * errorData ()
 
const InformationTypeinformation () const
 information matrix of the constraint More...
 
InformationTypeinformation ()
 
virtual const double * informationData () const
 returns the memory of the information matrix, usable for example with a Eigen::Map<MatrixXd> More...
 
virtual double * informationData ()
 
virtual void initialEstimate (const OptimizableGraph::VertexSet &, OptimizableGraph::Vertex *)
 
const Measurementmeasurement () const
 accessor functions for the measurement represented by the edge More...
 
virtual int rank () const
 
void setInformation (const InformationType &information)
 
virtual void setMeasurement (const Measurement &m)
 
virtual ~BaseEdge ()
 
- Public Member Functions inherited from g2o::OptimizableGraph::Edge
virtual bool allVerticesFixed () const =0
 
virtual Edgeclone () const
 
virtual void computeError ()=0
 
virtual void constructQuadraticForm ()=0
 
virtual VertexcreateFrom ()
 
virtual VertexcreateTo ()
 
int dimension () const
 returns the dimensions of the error function More...
 
 Edge ()
 
virtual bool getMeasurementData (double *m) const
 
OptimizableGraphgraph ()
 
const OptimizableGraphgraph () const
 
virtual double initialEstimatePossible (const OptimizableGraph::VertexSet &from, OptimizableGraph::Vertex *to)
 
long long internalId () const
 the internal ID of the edge More...
 
int level () const
 returns the level of the edge More...
 
virtual void linearizeOplus (JacobianWorkspace &jacobianWorkspace)=0
 
virtual void mapHessianMemory (double *d, int i, int j, bool rowMajor)=0
 
virtual int measurementDimension () const
 
size_t numParameters () const
 
const Parameterparameter (int argNo) const
 
virtual bool read (std::istream &is)=0
 read the vertex from a stream, i.e., the internal state of the vertex More...
 
void resizeParameters (size_t newSize)
 
RobustKernelrobustKernel () const
 if NOT NULL, error of this edge will be robustifed with the kernel More...
 
void setLevel (int l)
 sets the level of the edge More...
 
virtual bool setMeasurementData (const double *m)
 
virtual bool setMeasurementFromState ()
 
bool setParameterId (int argNum, int paramId)
 
void setRobustKernel (RobustKernel *ptr)
 
virtual bool write (std::ostream &os) const =0
 write the vertex to a stream More...
 
virtual ~Edge ()
 
- Public Member Functions inherited from g2o::HyperGraph::Edge
 Edge (int id=-1)
 creates and empty edge with no vertices More...
 
virtual HyperGraphElementType elementType () const
 
int id () const
 
virtual void resize (size_t size)
 
void setId (int id)
 
void setVertex (size_t i, Vertex *v)
 
const Vertexvertex (size_t i) const
 
Vertexvertex (size_t i)
 
const VertexContainervertices () const
 
VertexContainervertices ()
 
- Public Member Functions inherited from g2o::HyperGraph::HyperGraphElement
virtual ~HyperGraphElement ()
 

Static Public Attributes

static const int Dimension = D
 

Protected Member Functions

InformationType robustInformation (const Eigen::Vector3d &rho)
 
- Protected Member Functions inherited from g2o::OptimizableGraph::Edge
template<typename ParameterType >
bool installParameter (ParameterType *&p, size_t argNo, int paramId=-1)
 
template<typename CacheType >
void resolveCache (CacheType *&cache, OptimizableGraph::Vertex *, const std::string &_type, const ParameterVector &parameters)
 
virtual bool resolveCaches ()
 
bool resolveParameters ()
 

Protected Attributes

ErrorVector _error
 
InformationType _information
 
Measurement _measurement
 
- Protected Attributes inherited from g2o::OptimizableGraph::Edge
std::vector< int > _cacheIds
 
int _dimension
 
long long _internalId
 
int _level
 
std::vector< int > _parameterIds
 
std::vector< Parameter ** > _parameters
 
std::vector< std::string > _parameterTypes
 
RobustKernel_robustKernel
 
- Protected Attributes inherited from g2o::HyperGraph::Edge
int _id
 unique id More...
 
VertexContainer _vertices
 

Detailed Description

template<int D, typename E>
class g2o::BaseEdge< D, E >

Definition at line 42 of file base_edge.h.

Member Typedef Documentation

template<int D, typename E>
typedef Matrix<double, D, 1> g2o::BaseEdge< D, E >::ErrorVector

Definition at line 48 of file base_edge.h.

template<int D, typename E>
typedef Matrix<double, D, D> g2o::BaseEdge< D, E >::InformationType

Definition at line 49 of file base_edge.h.

template<int D, typename E>
typedef E g2o::BaseEdge< D, E >::Measurement

Definition at line 47 of file base_edge.h.

Constructor & Destructor Documentation

template<int D, typename E>
g2o::BaseEdge< D, E >::BaseEdge ( )
inline

Definition at line 51 of file base_edge.h.

template<int D, typename E>
virtual g2o::BaseEdge< D, E >::~BaseEdge ( )
inlinevirtual

Definition at line 56 of file base_edge.h.

Member Function Documentation

template<int D, typename E>
virtual double g2o::BaseEdge< D, E >::chi2 ( ) const
inlinevirtual

computes the chi2 based on the cached error value, only valid after computeError has been called.

Implements g2o::OptimizableGraph::Edge.

Definition at line 58 of file base_edge.h.

template<int D, typename E>
const ErrorVector& g2o::BaseEdge< D, E >::error ( ) const
inline

Definition at line 65 of file base_edge.h.

template<int D, typename E>
ErrorVector& g2o::BaseEdge< D, E >::error ( )
inline

Definition at line 66 of file base_edge.h.

template<int D, typename E>
virtual const double* g2o::BaseEdge< D, E >::errorData ( ) const
inlinevirtual

returns the error vector cached after calling the computeError;

Implements g2o::OptimizableGraph::Edge.

Definition at line 63 of file base_edge.h.

template<int D, typename E>
virtual double* g2o::BaseEdge< D, E >::errorData ( )
inlinevirtual

Implements g2o::OptimizableGraph::Edge.

Definition at line 64 of file base_edge.h.

template<int D, typename E>
const InformationType& g2o::BaseEdge< D, E >::information ( ) const
inline

information matrix of the constraint

Definition at line 69 of file base_edge.h.

template<int D, typename E>
InformationType& g2o::BaseEdge< D, E >::information ( )
inline

Definition at line 70 of file base_edge.h.

template<int D, typename E>
virtual const double* g2o::BaseEdge< D, E >::informationData ( ) const
inlinevirtual

returns the memory of the information matrix, usable for example with a Eigen::Map<MatrixXd>

Implements g2o::OptimizableGraph::Edge.

Definition at line 73 of file base_edge.h.

template<int D, typename E>
virtual double* g2o::BaseEdge< D, E >::informationData ( )
inlinevirtual

Implements g2o::OptimizableGraph::Edge.

Definition at line 74 of file base_edge.h.

template<int D, typename E>
virtual void g2o::BaseEdge< D, E >::initialEstimate ( const OptimizableGraph::VertexSet from,
OptimizableGraph::Vertex to 
)
inlinevirtual

set the estimate of the to vertex, based on the estimate of the from vertices in the edge.

Implements g2o::OptimizableGraph::Edge.

Reimplemented in g2o::EdgeSim3, g2o::BaseUnaryEdge< D, E, VertexXi >, g2o::BaseUnaryEdge< 2, Vector2d, VertexSE3Expmap >, and g2o::BaseUnaryEdge< 3, Vector3d, VertexSE3Expmap >.

Definition at line 82 of file base_edge.h.

template<int D, typename E>
const Measurement& g2o::BaseEdge< D, E >::measurement ( ) const
inline

accessor functions for the measurement represented by the edge

Definition at line 77 of file base_edge.h.

template<int D, typename E>
virtual int g2o::BaseEdge< D, E >::rank ( ) const
inlinevirtual

Definition at line 80 of file base_edge.h.

template<int D, typename E>
InformationType g2o::BaseEdge< D, E >::robustInformation ( const Eigen::Vector3d &  rho)
inlineprotected

calculate the robust information matrix by updating the information matrix of the error

Definition at line 96 of file base_edge.h.

template<int D, typename E>
void g2o::BaseEdge< D, E >::setInformation ( const InformationType information)
inline

Definition at line 71 of file base_edge.h.

template<int D, typename E>
virtual void g2o::BaseEdge< D, E >::setMeasurement ( const Measurement m)
inlinevirtual

Definition at line 78 of file base_edge.h.

Member Data Documentation

template<int D, typename E>
ErrorVector g2o::BaseEdge< D, E >::_error
protected

Definition at line 91 of file base_edge.h.

template<int D, typename E>
InformationType g2o::BaseEdge< D, E >::_information
protected

Definition at line 90 of file base_edge.h.

template<int D, typename E>
Measurement g2o::BaseEdge< D, E >::_measurement
protected

Definition at line 89 of file base_edge.h.

template<int D, typename E>
const int g2o::BaseEdge< D, E >::Dimension = D
static

Definition at line 46 of file base_edge.h.


The documentation for this class was generated from the following file:


orb_slam2_ros
Author(s):
autogenerated on Wed Apr 21 2021 02:53:05