g2o::JacobianWorkspace Class Reference

provide memory workspace for computing the Jacobians More...

#include <jacobian_workspace.h>

Public Types
typedef std::vector< Eigen::VectorXd, Eigen::aligned_allocator< Eigen::VectorXd > >	WorkspaceVector

Public Member Functions
bool	allocate ()
	JacobianWorkspace ()
void	updateSize (const HyperGraph::Edge *e)
void	updateSize (const OptimizableGraph &graph)
void	updateSize (int numVertices, int dimension)
double *	workspaceForVertex (int vertexIndex)
	~JacobianWorkspace ()

Protected Attributes
int	_maxDimension
	the maximum dimension (number of elements) for a Jacobian More...
int	_maxNumVertices
	the maximum number of vertices connected by a hyper-edge More...
WorkspaceVector	_workspace
	the memory pre-allocated for computing the Jacobians More...

Detailed Description

provide memory workspace for computing the Jacobians

The workspace is used by an OptimizableGraph to provide temporary memory for computing the Jacobian of the error functions. Before calling linearizeOplus on an edge, the workspace needs to be allocated by calling allocate().

Definition at line 50 of file jacobian_workspace.h.

Member Typedef Documentation

typedef std::vector<Eigen::VectorXd, Eigen::aligned_allocator<Eigen::VectorXd> > g2o::JacobianWorkspace::WorkspaceVector

Definition at line 53 of file jacobian_workspace.h.

Constructor & Destructor Documentation

g2o::JacobianWorkspace::JacobianWorkspace

(

)

Definition at line 37 of file jacobian_workspace.cpp.

g2o::JacobianWorkspace::~JacobianWorkspace

(

)

Definition at line 42 of file jacobian_workspace.cpp.

Member Function Documentation

bool g2o::JacobianWorkspace::allocate

(

)

allocate the workspace

Definition at line 46 of file jacobian_workspace.cpp.

void g2o::JacobianWorkspace::updateSize

(

const HyperGraph::Edge *

e

)

update the maximum required workspace needed by taking into account this edge

Definition at line 59 of file jacobian_workspace.cpp.

void g2o::JacobianWorkspace::updateSize

(

const OptimizableGraph &

graph

)

update the required workspace by looking at a full graph

Definition at line 75 of file jacobian_workspace.cpp.

void g2o::JacobianWorkspace::updateSize	(	int	numVertices,
		int	dimension
	)

manually update with the given parameters

Definition at line 83 of file jacobian_workspace.cpp.

double* g2o::JacobianWorkspace::workspaceForVertex ( int  vertexIndex )

inline

return the workspace for a vertex in an edge

Definition at line 82 of file jacobian_workspace.h.

Member Data Documentation

int g2o::JacobianWorkspace::_maxDimension

protected

the maximum dimension (number of elements) for a Jacobian

Definition at line 91 of file jacobian_workspace.h.

int g2o::JacobianWorkspace::_maxNumVertices

protected

the maximum number of vertices connected by a hyper-edge

Definition at line 90 of file jacobian_workspace.h.

WorkspaceVector g2o::JacobianWorkspace::_workspace

protected

the memory pre-allocated for computing the Jacobians

Definition at line 89 of file jacobian_workspace.h.

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

• jacobian_workspace.h
• jacobian_workspace.cpp