Class that contains the core optimization algorithm. More...

#include <treeoptimizer3.h>

Inheritance diagram for AISNavigation::TreeOptimizer3:

Classes
struct	PM_t

Public Types
typedef std::vector< Pose >	PoseVector

Public Types inherited from AISNavigation::TreePoseGraph3
typedef Ops::CovarianceType	CovarianceMatrix

typedef Ops::InformationType	InformationMatrix

typedef Operations3D< double >	Ops

typedef Ops::PoseType	Pose

typedef Ops::RotationType	Rotation

typedef Ops::TransformationType	Transformation

typedef Ops::TranslationType	Translation

Public Types inherited from AISNavigation::TreePoseGraph< Operations3D< double > >
typedef Operations3D< double > ::BaseType	BaseType

typedef Operations3D< double > ::CovarianceType	Covariance

typedef EVComparator< Edge * >::CompareMode	EdgeCompareMode

typedef std::list< Edge * >	EdgeList

typedef std::map< Edge , Edge >	EdgeMap

typedef std::multiset< Edge , EVComparator< Edge > >	EdgeSet

typedef Operations3D< double > ::InformationType	Information

typedef Operations3D< double > ::ParametersType	Parameters

typedef Operations3D< double > ::PoseType	Pose

typedef Operations3D< double > ::RotationType	Rotation

typedef Operations3D< double > ::TransformationType	Transformation

typedef Operations3D< double > ::TranslationType	Translation

typedef std::map< int, Vertex * >	VertexMap

typedef std::set< Vertex * >	VertexSet

Public Member Functions
double	angularError () const

double	error (double mre=0, double mte=0, double are=0, double ate=0, TreePoseGraph3::EdgeSet *eset=0) const

double	getRotGain () const

void	initializeOnlineIterations ()

void	initializeOnlineOptimization (EdgeCompareMode mode=EVComparator< Edge * >::CompareLevel)

void	initializeOptimization (EdgeCompareMode mode=EVComparator< Edge * >::CompareLevel)

void	initializeTreeParameters ()

void	iterate (TreePoseGraph3::EdgeSet *eset=0, bool noPreconditioner=false)

double	translationalError () const

	TreeOptimizer3 ()

virtual	~TreeOptimizer3 ()

Public Member Functions inherited from AISNavigation::TreePoseGraph3
virtual void	collapseEdge (Edge *e)

virtual void	initializeFromParentEdge (Vertex *v)

void	initializeOnTree ()

bool	load (const char *filename, bool overrideCovariances=false, bool twoDimensions=false)

bool	loadEquivalences (const char *filename)

void	printDepth (std::ostream &os)

void	printEdgesStat (std::ostream &os)

void	printWidth (std::ostream &os)

void	recomputeAllTransformations ()

virtual void	revertEdgeInfo (Edge *e)

bool	save (const char *filename)

bool	saveGnuplot (const char *filename)

Public Member Functions inherited from AISNavigation::TreePoseGraph< Operations3D< double > >
Edge *	addEdge (Vertex v1, Vertex v2, const Transformation &t, const Information &i)

Edge *	addIncrementalEdge (int id1, int id2, const Transformation &t, const Information &i)

Vertex *	addVertex (int id, const Pose &pose)

EdgeSet *	affectedEdges (Vertex *v)

EdgeSet *	affectedEdges (VertexSet &vl)

bool	buildMST (int id)

bool	buildSimpleTree ()

void	clear ()

void	compressIndices ()

Edge *	edge (int id1, int id2)

const Edge *	edge (int id1, int id2) const

int	maxIndex ()

int	maxPathLength ()

Edge *	removeEdge (Edge *eq)

Vertex *	removeVertex (int id)

void	revertEdge (Edge *e)

bool	sanityCheck ()

EdgeSet *	sortEdges ()

int	totalPathLength ()

void	treeBreadthVisit (Action &act)

void	treeDepthVisit (Action &act, Vertex *v)

	TreePoseGraph ()

Vertex *	vertex (int id)

const Vertex *	vertex (int id) const

virtual	~TreePoseGraph ()

Public Attributes
int	iteration

bool	restartOnDivergence

double	rpFraction

Public Attributes inherited from AISNavigation::TreePoseGraph3
int	verboseLevel

Public Attributes inherited from AISNavigation::TreePoseGraph< Operations3D< double > >
EdgeMap	edges

Vertex *	root

EdgeSet *	sortedEdges

VertexMap	vertices

Protected Types
typedef std::vector< PM_t >	PMVector

Protected Member Functions
void	computePreconditioner ()

double	error (const Edge *e) const

Transformation	getPose (Vertex v, Vertex top)

Rotation	getRotation (Vertex v, Vertex top)

virtual bool	isDone ()

double	loopError (const Edge *e) const

double	loopRotationalError (const Edge *e) const

virtual void	onIterationFinished (int iteration)

virtual void	onIterationStart (int i)

virtual void	onRestartBegin ()

virtual void	onRestartDone ()

virtual void	onStepFinished (Edge *e)

virtual void	onStepStart (Edge *e)

void	propagateErrors (bool usePreconditioner=false)

void	recomputeParameters (Vertex v, Vertex top)

void	recomputeTransformations (Vertex v, Vertex top)

double	rotationalError (const Edge *e) const

double	translationalError (const Edge *e) const

double	traslationalError (const Edge *e) const

Protected Member Functions inherited from AISNavigation::TreePoseGraph< Operations3D< double > >
void	fillEdgeInfo (Edge *e)

void	fillEdgesInfo ()

Protected Attributes
double	gamma [2]

PMVector	M

std::vector< double >	maxRotationalErrors

std::vector< double >	maxTranslationalErrors

int	mpl

double	rotGain

double	trasGain

Protected Attributes inherited from AISNavigation::TreePoseGraph< Operations3D< double > >
EdgeCompareMode	edgeCompareMode

Detailed Description

Class that contains the core optimization algorithm.

Definition at line 52 of file treeoptimizer3.h.

Member Typedef Documentation

◆ PMVector

typedef std::vector< PM_t > AISNavigation::TreeOptimizer3::PMVector

protected

Definition at line 135 of file treeoptimizer3.h.

◆ PoseVector

typedef std::vector<Pose> AISNavigation::TreeOptimizer3::PoseVector

Definition at line 53 of file treeoptimizer3.h.

Constructor & Destructor Documentation

◆ TreeOptimizer3()

AISNavigation::TreeOptimizer3::TreeOptimizer3 ( )

Constructor

Definition at line 57 of file treeoptimizer3.cpp.

◆ ~TreeOptimizer3()

AISNavigation::TreeOptimizer3::~TreeOptimizer3 ( )

virtual

Destructor

Definition at line 65 of file treeoptimizer3.cpp.

Member Function Documentation

◆ angularError()

double AISNavigation::TreeOptimizer3::angularError ( ) const

Conmputes the gloabl error of the network

◆ computePreconditioner()

void AISNavigation::TreeOptimizer3::computePreconditioner ( )

protected

Definition at line 86 of file treeoptimizer3_iteration.cpp.

◆ error() [1/2]

double AISNavigation::TreeOptimizer3::error ( const Edge * e ) const

protected

Computes the error of the constraint/edge e

Definition at line 170 of file treeoptimizer3.cpp.

◆ error() [2/2]

double AISNavigation::TreeOptimizer3::error	(	double *	mre = `0`,
		double *	mte = `0`,
		double *	are = `0`,
		double *	ate = `0`,
		TreePoseGraph3::EdgeSet *	eset = `0`
	)		const

Conmputes the gloabl error of the network

Definition at line 250 of file treeoptimizer3.cpp.

◆ getPose()

TreeOptimizer3::Transformation AISNavigation::TreeOptimizer3::getPose	(	Vertex *	v,
		Vertex *	top
	)

protected

Recomputes only the pose of the node v wrt. to an arbitraty parent (top) of v in the tree

Definition at line 146 of file treeoptimizer3.cpp.

◆ getRotation()

TreeOptimizer3::Rotation AISNavigation::TreeOptimizer3::getRotation	(	Vertex *	v,
		Vertex *	top
	)

protected

Recomputes only the pose of the node v wrt. to an arbitraty parent (top) of v in the tree

Definition at line 157 of file treeoptimizer3.cpp.

◆ getRotGain()

double AISNavigation::TreeOptimizer3::getRotGain ( ) const

inline

Definition at line 85 of file treeoptimizer3.h.

◆ initializeOnlineIterations()

void AISNavigation::TreeOptimizer3::initializeOnlineIterations ( )

Definition at line 314 of file treeoptimizer3.cpp.

◆ initializeOnlineOptimization()

void AISNavigation::TreeOptimizer3::initializeOnlineOptimization ( EdgeCompareMode mode = EVComparator<Edge*>::CompareLevel )

Definition at line 326 of file treeoptimizer3.cpp.

◆ initializeOptimization()

void AISNavigation::TreeOptimizer3::initializeOptimization ( EdgeCompareMode mode = EVComparator<Edge*>::CompareLevel )

Initialization function

Definition at line 293 of file treeoptimizer3.cpp.

◆ initializeTreeParameters()

void AISNavigation::TreeOptimizer3::initializeTreeParameters ( )

Initialization function

Definition at line 68 of file treeoptimizer3.cpp.

◆ isDone()

bool AISNavigation::TreeOptimizer3::isDone ( )

protectedvirtual

callback for determining a termination condition, it can be used by an external thread for stopping the optimizer while performing an iteration.

Returns: true when the optimizer has to stop.

Definition at line 356 of file treeoptimizer3.cpp.

◆ iterate()

void AISNavigation::TreeOptimizer3::iterate	(	TreePoseGraph3::EdgeSet *	eset = `0`,
		bool	noPreconditioner = `false`
	)

Performs one iteration of the algorithm

Definition at line 74 of file treeoptimizer3.cpp.

◆ loopError()

double AISNavigation::TreeOptimizer3::loopError ( const Edge * e ) const

protected

Computes the error of the constraint/edge e

Definition at line 215 of file treeoptimizer3.cpp.

◆ loopRotationalError()

double AISNavigation::TreeOptimizer3::loopRotationalError ( const Edge * e ) const

protected

Computes the rotational error of the constraint/edge e

Definition at line 232 of file treeoptimizer3.cpp.

◆ onIterationFinished()

void AISNavigation::TreeOptimizer3::onIterationFinished ( int iteration )

protectedvirtual

callback invoked after finishing a full iteration,

Parameters

i	the current iteration number

Definition at line 350 of file treeoptimizer3.cpp.

◆ onIterationStart()

void AISNavigation::TreeOptimizer3::onIterationStart ( int i )

protectedvirtual

callback invoked before starting a full iteration,

Parameters

i	the current iteration number

Definition at line 346 of file treeoptimizer3.cpp.

◆ onRestartBegin()

void AISNavigation::TreeOptimizer3::onRestartBegin ( )

protectedvirtual

callback invoked before a restart of the optimizer when the angular wraparound is detected

Definition at line 354 of file treeoptimizer3.cpp.

◆ onRestartDone()

void AISNavigation::TreeOptimizer3::onRestartDone ( )

protectedvirtual

callback invoked after a restart of the optimizer

Definition at line 355 of file treeoptimizer3.cpp.

◆ onStepFinished()

void AISNavigation::TreeOptimizer3::onStepFinished ( Edge * e )

protectedvirtual

callback invoked after finishing the optimization of an individual constraint,

Parameters

e	the constraint optimized

Definition at line 342 of file treeoptimizer3.cpp.

◆ onStepStart()

void AISNavigation::TreeOptimizer3::onStepStart ( Edge * e )

protectedvirtual

callback invoked before starting the optimization of an individual constraint,

Parameters

e	the constraint being optimized

Definition at line 339 of file treeoptimizer3.cpp.

◆ propagateErrors()

void AISNavigation::TreeOptimizer3::propagateErrors ( bool usePreconditioner = false )

protected

Definition at line 128 of file treeoptimizer3_iteration.cpp.

◆ recomputeParameters()

void AISNavigation::TreeOptimizer3::recomputeParameters	(	Vertex *	v,
		Vertex *	top
	)

protected

Definition at line 138 of file treeoptimizer3.cpp.

◆ recomputeTransformations()

void AISNavigation::TreeOptimizer3::recomputeTransformations	(	Vertex *	v,
		Vertex *	top
	)

protected

Definition at line 130 of file treeoptimizer3.cpp.

◆ rotationalError()

double AISNavigation::TreeOptimizer3::rotationalError ( const Edge * e ) const

protected

Conmputes the error of the constraint/edge e

Definition at line 201 of file treeoptimizer3.cpp.

◆ translationalError() [1/2]

double AISNavigation::TreeOptimizer3::translationalError ( ) const

Conmputes the gloabl error of the network

◆ translationalError() [2/2]

double AISNavigation::TreeOptimizer3::translationalError ( const Edge * e ) const

protected

Conmputes the error of the constraint/edge e

◆ traslationalError()

double AISNavigation::TreeOptimizer3::traslationalError ( const Edge * e ) const

protected

Definition at line 188 of file treeoptimizer3.cpp.

Member Data Documentation

◆ gamma

double AISNavigation::TreeOptimizer3::gamma[2]

protected

Used to compute the learning rate lambda

Definition at line 128 of file treeoptimizer3.h.

◆ iteration

int AISNavigation::TreeOptimizer3::iteration

Iteration counter

Definition at line 88 of file treeoptimizer3.h.

◆ M

PMVector AISNavigation::TreeOptimizer3::M

protected

Definition at line 136 of file treeoptimizer3.h.

◆ maxRotationalErrors

std::vector<double> AISNavigation::TreeOptimizer3::maxRotationalErrors

protected

history of rhe maximum rotational errors*, used when adaptiveRestart is enabled

Definition at line 142 of file treeoptimizer3.h.

◆ maxTranslationalErrors

std::vector<double> AISNavigation::TreeOptimizer3::maxTranslationalErrors

protected

history of rhe maximum rotational errors*, used when adaptiveRestart is enabled

Definition at line 145 of file treeoptimizer3.h.

◆ mpl

int AISNavigation::TreeOptimizer3::mpl

protected

cached maximum path length

Definition at line 139 of file treeoptimizer3.h.

◆ restartOnDivergence

bool AISNavigation::TreeOptimizer3::restartOnDivergence

Definition at line 83 of file treeoptimizer3.h.

◆ rotGain

double AISNavigation::TreeOptimizer3::rotGain

protected

Definition at line 146 of file treeoptimizer3.h.

◆ rpFraction

double AISNavigation::TreeOptimizer3::rpFraction

Definition at line 90 of file treeoptimizer3.h.

◆ trasGain

double AISNavigation::TreeOptimizer3::trasGain

protected

Definition at line 146 of file treeoptimizer3.h.

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

Classes

Public Types

Public Member Functions

Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ PMVector

◆ PoseVector

Constructor & Destructor Documentation

◆ TreeOptimizer3()

◆ ~TreeOptimizer3()

Member Function Documentation

◆ angularError()

◆ computePreconditioner()

◆ error() [1/2]

◆ error() [2/2]

◆ getPose()

◆ getRotation()

◆ getRotGain()

◆ initializeOnlineIterations()

◆ initializeOnlineOptimization()

◆ initializeOptimization()

◆ initializeTreeParameters()

◆ isDone()

◆ iterate()

◆ loopError()

◆ loopRotationalError()

◆ onIterationFinished()

◆ onIterationStart()

◆ onRestartBegin()

◆ onRestartDone()

◆ onStepFinished()

◆ onStepStart()

◆ propagateErrors()

◆ recomputeParameters()

◆ recomputeTransformations()

◆ rotationalError()

◆ translationalError() [1/2]

◆ translationalError() [2/2]

◆ traslationalError()

Member Data Documentation

◆ gamma

◆ iteration

◆ M

◆ maxRotationalErrors

◆ maxTranslationalErrors

◆ mpl

◆ restartOnDivergence

◆ rotGain

◆ rpFraction

◆ trasGain