#include <base_vertex.h>

Inheritance diagram for g2o::BaseVertex< D, T >:

Public Types
typedef std::stack< EstimateType, std::vector< EstimateType, Eigen::aligned_allocator< EstimateType > > >	BackupStackType

typedef T	EstimateType

typedef Eigen::Map< Matrix< double, D, D >, Matrix< double, D, D >::Flags &PacketAccessBit?Aligned:Unaligned >	HessianBlockType

Public Member Functions
HessianBlockType &	A ()
	return the hessian block associated with the vertex More...

const HessianBlockType &	A () const

virtual const double &	b (int i) const
	get the b vector element More...

virtual double &	b (int i)

Matrix< double, D, 1 > &	b ()
	return right hand side b of the constructed linear system More...

const Matrix< double, D, 1 > &	b () const

	BaseVertex ()

virtual double *	bData ()
	return a pointer to the b vector associated with this vertex More...

virtual void	clearQuadraticForm ()

virtual int	copyB (double *b_) const

virtual void	discardTop ()
	pop the last element from the stack, without restoring the current estimate More...

const EstimateType &	estimate () const
	return the current estimate of the vertex More...

virtual const double &	hessian (int i, int j) const
	get the element from the hessian matrix More...

virtual double &	hessian (int i, int j)

virtual double *	hessianData ()

virtual double	hessianDeterminant () const

virtual void	mapHessianMemory (double *d)

virtual void	pop ()
	restore the position of the vertex by retrieving the position from the stack More...

virtual void	push ()
	backup the position of the vertex to a stack More...

void	setEstimate (const EstimateType &et)
	set the estimate for the vertex also calls updateCache() More...

virtual double	solveDirect (double lambda=0)

virtual int	stackSize () const
	return the stack size More...

Public Member Functions inherited from g2o::OptimizableGraph::Vertex
void	addUserData (Data *obs)

CacheContainer *	cacheContainer ()

virtual Vertex *	clone () const
	returns a deep copy of the current vertex More...

int	colInHessian () const
	get the row of this vertex in the Hessian More...

int	dimension () const
	dimension of the estimated state belonging to this node More...

virtual int	estimateDimension () const

bool	fixed () const
	true => this node is fixed during the optimization More...

int	G2O_ATTRIBUTE_DEPRECATED (tempIndex() const)

void	G2O_ATTRIBUTE_DEPRECATED (setTempIndex(int ti))

virtual bool	getEstimateData (double *estimate) const

virtual bool	getEstimateData (std::vector< double > &estimate) const

virtual bool	getMinimalEstimateData (double *estimate) const

virtual bool	getMinimalEstimateData (std::vector< double > &estimate) const

const OptimizableGraph *	graph () const

OptimizableGraph *	graph ()

int	hessianIndex () const
	temporary index of this node in the parameter vector obtained from linearization More...

void	lockQuadraticForm ()

bool	marginalized () const
	true => this node is marginalized out during the optimization More...

virtual int	minimalEstimateDimension () const

void	oplus (const double *v)

virtual bool	read (std::istream &is)=0
	read the vertex from a stream, i.e., the internal state of the vertex More...

void	setColInHessian (int c)
	set the row of this vertex in the Hessian More...

bool	setEstimateData (const double *estimate)

bool	setEstimateData (const std::vector< double > &estimate)

void	setFixed (bool fixed)
	true => this node should be considered fixed during the optimization More...

void	setHessianIndex (int ti)
	set the temporary index of the vertex in the parameter blocks More...

virtual void	setId (int id)
	sets the id of the node in the graph be sure that the graph keeps consistent after changing the id More...

void	setMarginalized (bool marginalized)
	true => this node should be marginalized out during the optimization More...

bool	setMinimalEstimateData (const double *estimate)

bool	setMinimalEstimateData (const std::vector< double > &estimate)

void	setToOrigin ()
	sets the node to the origin (used in the multilevel stuff) More...

void	setUserData (Data *obs)

void	unlockQuadraticForm ()

virtual void	updateCache ()

const Data *	userData () const
	the user data associated with this vertex More...

Data *	userData ()

	Vertex ()

virtual bool	write (std::ostream &os) const =0
	write the vertex to a stream More...

virtual	~Vertex ()

Public Member Functions inherited from g2o::HyperGraph::Vertex
const EdgeSet &	edges () const
	returns the set of hyper-edges that are leaving/entering in this vertex More...

EdgeSet &	edges ()
	returns the set of hyper-edges that are leaving/entering in this vertex More...

virtual HyperGraphElementType	elementType () const

int	id () const
	returns the id More...

	Vertex (int id=-1)
	creates a vertex having an ID specified by the argument More...

Public Member Functions inherited from g2o::HyperGraph::HyperGraphElement
virtual	~HyperGraphElement ()

Static Public Attributes
static const int	Dimension = D
	dimension of the estimate (minimal) in the manifold space More...

Protected Attributes
Matrix< double, D, 1 >	_b

BackupStackType	_backup

EstimateType	_estimate

HessianBlockType	_hessian

Protected Attributes inherited from g2o::OptimizableGraph::Vertex
CacheContainer *	_cacheContainer

int	_colInHessian

int	_dimension

bool	_fixed

OptimizableGraph *	_graph

int	_hessianIndex

bool	_marginalized

OpenMPMutex	_quadraticFormMutex

Data *	_userData

Protected Attributes inherited from g2o::HyperGraph::Vertex
EdgeSet	_edges

int	_id

Additional Inherited Members
Protected Member Functions inherited from g2o::OptimizableGraph::Vertex
virtual void	oplusImpl (const double *v)=0

virtual bool	setEstimateDataImpl (const double *)

virtual bool	setMinimalEstimateDataImpl (const double *)

virtual void	setToOriginImpl ()=0
	sets the node to the origin (used in the multilevel stuff) More...

Detailed Description

template<int D, typename T>
class g2o::BaseVertex< D, T >

Templatized BaseVertex.

Templatized BaseVertex D : minimal dimension of the vertex, e.g., 3 for rotation in 3D T : internal type to represent the estimate, e.g., Quaternion for rotation in 3D

Definition at line 53 of file base_vertex.h.

Member Typedef Documentation

template<int D, typename T>

typedef std::stack<EstimateType, std::vector<EstimateType, Eigen::aligned_allocator<EstimateType> > > g2o::BaseVertex< D, T >::BackupStackType

Definition at line 58 of file base_vertex.h.

template<int D, typename T>

typedef T g2o::BaseVertex< D, T >::EstimateType

Definition at line 55 of file base_vertex.h.

template<int D, typename T>

typedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & PacketAccessBit ? Aligned : Unaligned > g2o::BaseVertex< D, T >::HessianBlockType

Definition at line 62 of file base_vertex.h.

Constructor & Destructor Documentation

template<int D, typename T >

BaseVertex::BaseVertex ( )

Definition at line 29 of file base_vertex.h.

Member Function Documentation

template<int D, typename T>

HessianBlockType& g2o::BaseVertex< D, T >::A ( )

inline

return the hessian block associated with the vertex

Definition at line 93 of file base_vertex.h.

template<int D, typename T>

const HessianBlockType& g2o::BaseVertex< D, T >::A ( ) const

inline

Definition at line 94 of file base_vertex.h.

template<int D, typename T>

virtual const double& g2o::BaseVertex< D, T >::b ( int i ) const

inlinevirtual

get the b vector element

Implements g2o::OptimizableGraph::Vertex.

Definition at line 79 of file base_vertex.h.

template<int D, typename T>

virtual double& g2o::BaseVertex< D, T >::b ( int i )

inlinevirtual

Implements g2o::OptimizableGraph::Vertex.

Definition at line 80 of file base_vertex.h.

template<int D, typename T>

Matrix<double, D, 1>& g2o::BaseVertex< D, T >::b ( )

inline

return right hand side b of the constructed linear system

Definition at line 90 of file base_vertex.h.

template<int D, typename T>

const Matrix<double, D, 1>& g2o::BaseVertex< D, T >::b ( ) const

inline

Definition at line 91 of file base_vertex.h.

template<int D, typename T>

virtual double* g2o::BaseVertex< D, T >::bData ( )

inlinevirtual

return a pointer to the b vector associated with this vertex

Implements g2o::OptimizableGraph::Vertex.

Definition at line 81 of file base_vertex.h.

template<int D, typename T >

void BaseVertex::clearQuadraticForm ( )

virtual

set the b vector part of this vertex to zero

Implements g2o::OptimizableGraph::Vertex.

Definition at line 48 of file base_vertex.h.

template<int D, typename T>

virtual int g2o::BaseVertex< D, T >::copyB ( double * b_ ) const

inlinevirtual

copies the b vector in the array b_

Returns: the number of elements copied

Implements g2o::OptimizableGraph::Vertex.

Definition at line 74 of file base_vertex.h.

template<int D, typename T>

virtual void g2o::BaseVertex< D, T >::discardTop ( )

inlinevirtual

pop the last element from the stack, without restoring the current estimate

Implements g2o::OptimizableGraph::Vertex.

Definition at line 98 of file base_vertex.h.

template<int D, typename T>

const EstimateType& g2o::BaseVertex< D, T >::estimate ( ) const

inline

return the current estimate of the vertex

Definition at line 102 of file base_vertex.h.

template<int D, typename T>

virtual const double& g2o::BaseVertex< D, T >::hessian	(	int	i,
		int	j
	)		const

inlinevirtual

get the element from the hessian matrix

Implements g2o::OptimizableGraph::Vertex.

Definition at line 67 of file base_vertex.h.

template<int D, typename T>

virtual double& g2o::BaseVertex< D, T >::hessian	(	int	i,
		int	j
	)

inlinevirtual

Implements g2o::OptimizableGraph::Vertex.

Definition at line 68 of file base_vertex.h.

template<int D, typename T>

virtual double* g2o::BaseVertex< D, T >::hessianData ( )

inlinevirtual

Implements g2o::OptimizableGraph::Vertex.

Definition at line 70 of file base_vertex.h.

template<int D, typename T>

virtual double g2o::BaseVertex< D, T >::hessianDeterminant ( ) const

inlinevirtual

Implements g2o::OptimizableGraph::Vertex.

Definition at line 69 of file base_vertex.h.

template<int D, typename T >

void BaseVertex::mapHessianMemory ( double * d )

virtual

maps the internal matrix to some external memory location

Implements g2o::OptimizableGraph::Vertex.

Definition at line 53 of file base_vertex.h.

template<int D, typename T>

virtual void g2o::BaseVertex< D, T >::pop ( )

inlinevirtual

restore the position of the vertex by retrieving the position from the stack

Implements g2o::OptimizableGraph::Vertex.

Definition at line 97 of file base_vertex.h.

template<int D, typename T>

virtual void g2o::BaseVertex< D, T >::push ( )

inlinevirtual

backup the position of the vertex to a stack

Implements g2o::OptimizableGraph::Vertex.

Definition at line 96 of file base_vertex.h.

template<int D, typename T>

void g2o::BaseVertex< D, T >::setEstimate ( const EstimateType & et )

inline

set the estimate for the vertex also calls updateCache()

Definition at line 104 of file base_vertex.h.

template<int D, typename T >

double BaseVertex::solveDirect ( double lambda = 0 )

virtual

updates the current vertex with the direct solution x += H_ii

Returns: the determinant of the inverted hessian

Implements g2o::OptimizableGraph::Vertex.

Definition at line 37 of file base_vertex.h.

template<int D, typename T>

virtual int g2o::BaseVertex< D, T >::stackSize ( ) const

inlinevirtual

return the stack size

Implements g2o::OptimizableGraph::Vertex.

Definition at line 99 of file base_vertex.h.

Member Data Documentation

template<int D, typename T>

Matrix<double, D, 1> g2o::BaseVertex< D, T >::_b

protected

Definition at line 108 of file base_vertex.h.

template<int D, typename T>

BackupStackType g2o::BaseVertex< D, T >::_backup

protected

Definition at line 110 of file base_vertex.h.

template<int D, typename T>

EstimateType g2o::BaseVertex< D, T >::_estimate

protected

Definition at line 109 of file base_vertex.h.

template<int D, typename T>

HessianBlockType g2o::BaseVertex< D, T >::_hessian

protected

Definition at line 107 of file base_vertex.h.

template<int D, typename T>

const int g2o::BaseVertex< D, T >::Dimension = D

static

dimension of the estimate (minimal) in the manifold space

Definition at line 60 of file base_vertex.h.

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

Public Types

Public Member Functions

Static Public Attributes

Protected Attributes

Additional Inherited Members

Detailed Description

template<int D, typename T> class g2o::BaseVertex< D, T >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<int D, typename T>
class g2o::BaseVertex< D, T >