#include <graph_optimizer_chol.h>

Inheritance diagram for AISNavigation::CholOptimizer< PG >:

Classes
class	CholEdge
Public Member Functions
virtual PG::Edge *	addEdge (typename PG::Vertex from, typename PG::Vertex to, const typename PG::TransformationType &mean, const typename PG::InformationType &information)
virtual PG::Edge *	addEdge (typename PG::Vertex from, typename PG::Vertex to, const typename PG::TransformationType &mean, const typename PG::InformationType &information)
	CholOptimizer ()
	CholOptimizer ()
virtual bool	initialize (int rootNode=-1)
virtual bool	initialize (int rootNode=-1)
virtual int	optimize (int iterations, bool online=false)
virtual int	optimize (int iterations, bool online=false)
int	optimizeSubset (typename PG::Vertex rootVertex, Graph::VertexSet &vset, int iterations, double lambda, bool initFromObservations, int otherNode=-1, typename PG::InformationType otherCovariance=0)
int	optimizeSubset (typename PG::Vertex rootVertex, Graph::VertexSet &vset, int iterations, double lambda, bool initFromObservations, int otherNode=-1, typename PG::InformationType otherCovariance=0)
bool &	useManifold ()
bool &	useManifold ()
virtual	~CholOptimizer ()
virtual	~CholOptimizer ()
Protected Member Functions
bool	buildIndexMapping (typename PG::Vertex *rootVertex, Graph::VertexSet &vset)
bool	buildIndexMapping (typename PG::Vertex *rootVertex, Graph::VertexSet &vset)
void	buildLinearSystem (typename PG::Vertex *rootVertex, double lambda)
void	buildLinearSystem (typename PG::Vertex *rootVertex, double lambda)
void	clearIndexMapping ()
void	clearIndexMapping ()
virtual void	computeActiveEdges (typename PG::Vertex *rootVertex, Graph::VertexSet &vset)
virtual void	computeActiveEdges (typename PG::Vertex *rootVertex, Graph::VertexSet &vset)
double	globalFrameChi2 () const
double	globalFrameChi2 () const
void	initializeActiveSubsetWithObservations (typename PG::Vertex *rootVertex, double maxDistance=std::numeric_limits< double >::max()/2)
void	initializeActiveSubsetWithObservations (typename PG::Vertex *rootVertex, double maxDistance=std::numeric_limits< double >::max()/2)
int	linearizeConstraint (const typename PG::Edge *e, double lambda)
int	linearizeConstraint (const typename PG::Edge *e, double lambda)
void	restoreVertices ()
void	restoreVertices ()
void	solveAndUpdate (double **block=0, int r1=-1, int c1=-1, int r2=-1, int c2=-1)
void	solveAndUpdate (double **block=0, int r1=-1, int c1=-1, int r2=-1, int c2=-1)
void	storeVertices ()
void	storeVertices ()
void	transformSubset (typename PG::Vertex *rootVertex, Graph::VertexSet &vset, const typename PG::TransformationType &newRootPose)
void	transformSubset (typename PG::Vertex *rootVertex, Graph::VertexSet &vset, const typename PG::TransformationType &newRootPose)
Protected Attributes
std::set< typename PG::Edge * >	_activeEdges
int	_addDuplicateEdgeIterations
int *	_csIntWorkspace
double *	_csInvWorkB
int	_csInvWorkspaceSize
double *	_csInvWorkTemp
double *	_csWorkspace
int	_csWorkspaceSize
std::vector< typename PG::Vertex * >	_ivMap
int	_nBlocks
int	_rootNode
double *	_sparseB
int	_sparseDim
int	_sparseDimMax
SparseMatrixEntry *	_sparseMatrix
SparseMatrixEntry **	_sparseMatrixPtr
	used to avoid multiple sorting
int	_sparseNz
int	_sparseNzMax
css *	_symbolicCholesky
bool	_useRelativeError
Friends
struct	ActivePathUniformCostFunction< PG >

Detailed Description

template<typename PG>
struct AISNavigation::CholOptimizer< PG >

Definition at line 41 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.h.

Constructor & Destructor Documentation

template<typename PG >

AISNavigation::CholOptimizer< PG >::CholOptimizer ( )

Definition at line 158 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.hpp.

template<typename PG >

AISNavigation::CholOptimizer< PG >::~CholOptimizer< PG > ( ) [virtual]

Definition at line 62 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.hpp.

template<typename PG>

AISNavigation::CholOptimizer< PG >::CholOptimizer ( )

template<typename PG>

virtual AISNavigation::CholOptimizer< PG >::~CholOptimizer ( ) [virtual]

Member Function Documentation

template<typename PG >

PG::Edge * AISNavigation::CholOptimizer< PG >::addEdge	(	typename PG::Vertex *	from,
		typename PG::Vertex *	to,
		const typename PG::TransformationType &	mean,
		const typename PG::InformationType &	information
	)		`[virtual]`

Reimplemented in AISNavigation::HCholOptimizer< PG >, and AISNavigation::HCholOptimizer< PG >.

Definition at line 272 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.hpp.

template<typename PG>

virtual PG::Edge* AISNavigation::CholOptimizer< PG >::addEdge	(	typename PG::Vertex *	from,
		typename PG::Vertex *	to,
		const typename PG::TransformationType &	mean,
		const typename PG::InformationType &	information
	)		`[virtual]`

Reimplemented in AISNavigation::HCholOptimizer< PG >, and AISNavigation::HCholOptimizer< PG >.

template<typename PG>

bool AISNavigation::CholOptimizer< PG >::buildIndexMapping	(	typename PG::Vertex *	rootVertex,
		Graph::VertexSet &	vset
	)		`[protected]`

template<typename PG >

bool AISNavigation::CholOptimizer< PG >::buildIndexMapping	(	typename PG::Vertex *	rootVertex,
		Graph::VertexSet &	vset
	)		`[protected]`

Definition at line 180 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.hpp.

template<typename PG >

void AISNavigation::CholOptimizer< PG >::buildLinearSystem	(	typename PG::Vertex *	rootVertex,
		double	lambda
	)		`[protected]`

Definition at line 358 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.hpp.

template<typename PG>

void AISNavigation::CholOptimizer< PG >::buildLinearSystem	(	typename PG::Vertex *	rootVertex,
		double	lambda
	)		`[protected]`

template<typename PG>

void AISNavigation::CholOptimizer< PG >::clearIndexMapping ( ) [protected]

template<typename PG >

void AISNavigation::CholOptimizer< PG >::clearIndexMapping ( ) [protected]

Definition at line 196 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.hpp.

template<typename PG >

void AISNavigation::CholOptimizer< PG >::computeActiveEdges	(	typename PG::Vertex *	rootVertex,
		Graph::VertexSet &	vset
	)		`[protected, virtual]`

Definition at line 204 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.hpp.

template<typename PG>

virtual void AISNavigation::CholOptimizer< PG >::computeActiveEdges	(	typename PG::Vertex *	rootVertex,
		Graph::VertexSet &	vset
	)		`[protected, virtual]`

template<typename PG>

double AISNavigation::CholOptimizer< PG >::globalFrameChi2 ( ) const [protected]

template<typename PG>

double AISNavigation::CholOptimizer< PG >::globalFrameChi2 ( ) const [protected]

template<typename PG >

bool AISNavigation::CholOptimizer< PG >::initialize ( int rootNode = -1 ) [virtual]

Implements AISNavigation::GraphOptimizer< PG >.

Definition at line 31 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.hpp.

template<typename PG>

virtual bool AISNavigation::CholOptimizer< PG >::initialize ( int rootNode = -1 ) [virtual]

Implements AISNavigation::GraphOptimizer< PG >.

template<typename PG>

void AISNavigation::CholOptimizer< PG >::initializeActiveSubsetWithObservations	(	typename PG::Vertex *	rootVertex,
		double	maxDistance = `std::numeric_limits< double >::max()/2`
	)		`[protected]`

template<typename PG >

void AISNavigation::CholOptimizer< PG >::initializeActiveSubsetWithObservations	(	typename PG::Vertex *	rootVertex,
		double	maxDistance = `std::numeric_limits<double>::max()/2`
	)		`[protected]`

Definition at line 566 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.hpp.

template<typename PG >

int AISNavigation::CholOptimizer< PG >::linearizeConstraint	(	const typename PG::Edge *	e,
		double	lambda
	)		`[protected]`

Definition at line 221 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.hpp.

template<typename PG>

int AISNavigation::CholOptimizer< PG >::linearizeConstraint	(	const typename PG::Edge *	e,
		double	lambda
	)		`[protected]`

template<typename PG>

virtual int AISNavigation::CholOptimizer< PG >::optimize	(	int	iterations,
		bool	online = `false`
	)		`[virtual]`

Implements AISNavigation::GraphOptimizer< PG >.

Reimplemented in AISNavigation::HCholOptimizer< PG >, and AISNavigation::HCholOptimizer< PG >.

template<typename PG >

int AISNavigation::CholOptimizer< PG >::optimize	(	int	iterations,
		bool	online = `false`
	)		`[virtual]`

Implements AISNavigation::GraphOptimizer< PG >.

Reimplemented in AISNavigation::HCholOptimizer< PG >, and AISNavigation::HCholOptimizer< PG >.

Definition at line 45 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.hpp.

template<typename PG>

int AISNavigation::CholOptimizer< PG >::optimizeSubset	(	typename PG::Vertex *	rootVertex,
		Graph::VertexSet &	vset,
		int	iterations,
		double	lambda,
		bool	initFromObservations,
		int	otherNode = `-1`,
		typename PG::InformationType *	otherCovariance = `0`
	)

template<typename PG >

int AISNavigation::CholOptimizer< PG >::optimizeSubset	(	typename PG::Vertex *	rootVertex,
		Graph::VertexSet &	vset,
		int	iterations,
		double	lambda,
		bool	initFromObservations,
		int	otherNode = `-1`,
		typename PG::InformationType *	otherCovariance = `0`
	)

Definition at line 76 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.hpp.

template<typename PG>

void AISNavigation::CholOptimizer< PG >::restoreVertices ( ) [protected]

template<typename PG >

void AISNavigation::CholOptimizer< PG >::restoreVertices ( ) [protected]

Definition at line 599 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.hpp.

template<typename PG>

void AISNavigation::CholOptimizer< PG >::solveAndUpdate	(	double **	block = `0`,
		int	r1 = `-1`,
		int	c1 = `-1`,
		int	r2 = `-1`,
		int	c2 = `-1`
	)		`[protected]`

template<typename PG >

void AISNavigation::CholOptimizer< PG >::solveAndUpdate	(	double **	block = `0`,
		int	r1 = `-1`,
		int	c1 = `-1`,
		int	r2 = `-1`,
		int	c2 = `-1`
	)		`[protected]`

Definition at line 470 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.hpp.

template<typename PG >

void AISNavigation::CholOptimizer< PG >::storeVertices ( ) [protected]

Definition at line 590 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.hpp.

template<typename PG>

void AISNavigation::CholOptimizer< PG >::storeVertices ( ) [protected]

template<typename PG >

void AISNavigation::CholOptimizer< PG >::transformSubset	(	typename PG::Vertex *	rootVertex,
		Graph::VertexSet &	vset,
		const typename PG::TransformationType &	newRootPose
	)		`[protected]`

Definition at line 532 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.hpp.

template<typename PG>

void AISNavigation::CholOptimizer< PG >::transformSubset	(	typename PG::Vertex *	rootVertex,
		Graph::VertexSet &	vset,
		const typename PG::TransformationType &	newRootPose
	)		`[protected]`