#include <base_edge.h>
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 ErrorVector & | error () const |
ErrorVector & | error () |
virtual const double * | errorData () const |
returns the error vector cached after calling the computeError; More... | |
virtual double * | errorData () |
const InformationType & | information () const |
information matrix of the constraint More... | |
InformationType & | information () |
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 Measurement & | measurement () 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 Edge * | clone () const |
virtual void | computeError ()=0 |
virtual void | constructQuadraticForm ()=0 |
virtual Vertex * | createFrom () |
virtual Vertex * | createTo () |
int | dimension () const |
returns the dimensions of the error function More... | |
Edge () | |
virtual bool | getMeasurementData (double *m) const |
OptimizableGraph * | graph () |
const OptimizableGraph * | graph () 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 Parameter * | parameter (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) |
RobustKernel * | robustKernel () 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 Vertex * | vertex (size_t i) const |
Vertex * | vertex (size_t i) |
const VertexContainer & | vertices () const |
VertexContainer & | vertices () |
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 ¶meters) |
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 |
Definition at line 42 of file base_edge.h.
typedef Matrix<double, D, 1> g2o::BaseEdge< D, E >::ErrorVector |
Definition at line 48 of file base_edge.h.
typedef Matrix<double, D, D> g2o::BaseEdge< D, E >::InformationType |
Definition at line 49 of file base_edge.h.
typedef E g2o::BaseEdge< D, E >::Measurement |
Definition at line 47 of file base_edge.h.
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inline |
Definition at line 51 of file base_edge.h.
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inlinevirtual |
Definition at line 56 of file base_edge.h.
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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.
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inline |
Definition at line 65 of file base_edge.h.
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inline |
Definition at line 66 of file base_edge.h.
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inlinevirtual |
returns the error vector cached after calling the computeError;
Implements g2o::OptimizableGraph::Edge.
Definition at line 63 of file base_edge.h.
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inlinevirtual |
Implements g2o::OptimizableGraph::Edge.
Definition at line 64 of file base_edge.h.
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inline |
information matrix of the constraint
Definition at line 69 of file base_edge.h.
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inline |
Definition at line 70 of file base_edge.h.
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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.
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inlinevirtual |
Implements g2o::OptimizableGraph::Edge.
Definition at line 74 of file base_edge.h.
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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.
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inline |
accessor functions for the measurement represented by the edge
Definition at line 77 of file base_edge.h.
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inlinevirtual |
Definition at line 80 of file base_edge.h.
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inlineprotected |
calculate the robust information matrix by updating the information matrix of the error
Definition at line 96 of file base_edge.h.
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inline |
Definition at line 71 of file base_edge.h.
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inlinevirtual |
Definition at line 78 of file base_edge.h.
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protected |
Definition at line 91 of file base_edge.h.
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protected |
Definition at line 90 of file base_edge.h.
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protected |
Definition at line 89 of file base_edge.h.
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static |
Definition at line 46 of file base_edge.h.