edge_se2MaxMixture.h
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1 /*
2  * edge_se2MaxMixture.h
3  *
4  * Created on: 12.06.2012
5  * Author: niko
6  */
7 
8 #ifndef EDGE_SE2MAXMIXTURE_H_
9 #define EDGE_SE2MAXMIXTURE_H_
10 
11 #include "g2o/types/slam2d/vertex_se2.h"
12 #include "g2o/types/slam2d/edge_se2.h"
13 
14 
15 class EdgeSE2MaxMixture : public g2o::EdgeSE2
16 {
17  public:
19 
20  virtual bool read(std::istream& is);
21  virtual bool write(std::ostream& os) const;
22  void computeError();
23  void linearizeOplus();
24 
25  double weight;
26 
28 
29  InformationType information_nullHypothesis;
31  InformationType information_constraint;
32  double nu_constraint ;
33 };
34 
35 
36 #ifdef G2O_HAVE_OPENGL
37  class EdgeSE2MaxMixtureDrawAction: public g2o::DrawAction{
38  public:
39  EdgeSE2MaxMixtureDrawAction();
40  virtual g2o::HyperGraphElementAction* operator()(g2o::HyperGraph::HyperGraphElement* element,
41  g2o::HyperGraphElementAction::Parameters* params_);
42  };
43 #endif
44 
45 
46 #endif /* EDGE_SE2MAXMIXTURE_H_ */
EdgeSE2MaxMixture::nu_nullHypothesis
double nu_nullHypothesis
Definition: edge_se2MaxMixture.h:30
EdgeSE2MaxMixture::read
virtual bool read(std::istream &is)
Definition: edge_se2MaxMixture.cpp:21
EdgeSE2MaxMixture::EdgeSE2MaxMixture
EdgeSE2MaxMixture()
Definition: edge_se2MaxMixture.cpp:15
os
ofstream os("timeSchurFactors.csv")
EdgeSE2MaxMixture::linearizeOplus
void linearizeOplus()
Definition: edge_se2MaxMixture.cpp:55
EdgeSE2MaxMixture::write
virtual bool write(std::ostream &os) const
Definition: edge_se2MaxMixture.cpp:44
EdgeSE2MaxMixture::information_constraint
InformationType information_constraint
Definition: edge_se2MaxMixture.h:31
EdgeSE2MaxMixture::information_nullHypothesis
InformationType information_nullHypothesis
Definition: edge_se2MaxMixture.h:29
EdgeSE2MaxMixture
Definition: edge_se2MaxMixture.h:15
operator()
internal::enable_if< symbolic::is_symbolic< IndexType >::value, CoeffReturnType >::type operator()(const IndexType &id) EIGEN_INDEXED_VIEW_METHOD_CONST
EdgeSE2MaxMixture::nullHypothesisMoreLikely
bool nullHypothesisMoreLikely
Definition: edge_se2MaxMixture.h:27
EdgeSE2MaxMixture::computeError
void computeError()
Definition: edge_se2MaxMixture.cpp:65
EdgeSE2MaxMixture::weight
double weight
Definition: edge_se2MaxMixture.h:25
EdgeSE2MaxMixture::nu_constraint
double nu_constraint
Definition: edge_se2MaxMixture.h:32


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Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:09