A general case Vertex for optimization. More...

#include <optimizable_graph.h>

Inheritance diagram for g2o::OptimizableGraph::Vertex:

Public Member Functions
virtual const double &	b (int i) const =0
	get the b vector element
virtual double &	b (int i)=0
virtual double *	bData ()=0
	return a pointer to the b vector associated with this vertex
virtual void	clearQuadraticForm ()=0
virtual Vertex *	clone () const
	returns a deep copy of the current vertex
int	colInHessian () const
	get the row of this vertex in the Hessian
virtual int	copyB (double *b_) const =0
int	dimension () const
	dimension of the estimated state belonging to this node
virtual void	discardTop ()=0
	pop the last element from the stack, without restoring the current estimate
virtual int	estimateDimension () const
bool	fixed () const
	true => this node is fixed during the optimization
virtual bool	getEstimateData (double *estimate) const
virtual bool	getMinimalEstimateData (double *estimate) const
const OptimizableGraph *	graph () const
virtual const double &	hessian (int i, int j) const =0
	get the element from the hessian matrix
virtual double &	hessian (int i, int j)=0
virtual double *	hessianData ()=0
virtual double	hessianDeterminant () const =0
void	lockQuadraticForm ()
virtual void	mapHessianMemory (double *d)=0
bool	marginalized () const
	true => this node is marginalized out during the optimization
virtual int	minimalEstimateDimension () const
virtual void	oplus (double *v)=0
	update the position of the node from the parameters in v
virtual void	pop ()=0
	restore the position of the vertex by retrieving the position from the stack
virtual void	push ()=0
	backup the position of the vertex to a stack
virtual bool	read (std::istream &is)=0
	read the vertex from a stream, i.e., the internal state of the vertex
void	setColInHessian (int c)
	set the row of this vertex in the Hessian
virtual bool	setEstimateData (const double *estimate)
void	setFixed (bool fixed)
	true => this node should be considered fixed during the optimization
void	setId (int id)
	sets the id of the node in the graph be sure that the graph keeps consistent after changing the id
void	setMarginalized (bool marginalized)
	true => this node should be marginalized out during the optimization
virtual bool	setMinimalEstimateData (const double *estimate)
void	setTempIndex (int ti)
	set the temporary index of the vertex in the parameter blocks
virtual void	setToOrigin ()=0
	sets the node to the origin (used in the multilevel stuff)
virtual void	setUncertainty (double *c)=0
	sets the covariance/information of the node, used internally
void	setUserData (Data *obs)
virtual double	solveDirect (double lambda=0)=0
virtual int	stackSize () const =0
	return the stack size
int	tempIndex () const
	temporary index of this node in the parameter vector obtained from linearization
virtual double *	uncertaintyData ()=0
	return the pointer to the uncertainty (marginal covariance)
void	unlockQuadraticForm ()
const Data *	userData () const
	the user data associated with this vertex
Data *	userData ()
	Vertex ()
virtual bool	write (std::ostream &os) const =0
	write the vertex to a stream
virtual	~Vertex ()
Protected Attributes
int	_colInHessian
int	_dimension
bool	_fixed
OptimizableGraph *	_graph
bool	_marginalized
OpenMPMutex	_quadraticFormMutex
int	_tempIndex
Data *	_userData
Friends
struct	OptimizableGraph

Detailed Description

A general case Vertex for optimization.

Definition at line 100 of file optimizable_graph.h.

Constructor & Destructor Documentation

g2o::OptimizableGraph::Vertex::Vertex ( )

Definition at line 39 of file optimizable_graph.cpp.

g2o::OptimizableGraph::Vertex::~Vertex ( ) [virtual]

Reimplemented from g2o::HyperGraph::Vertex.

Definition at line 47 of file optimizable_graph.cpp.

Member Function Documentation

virtual const double& g2o::OptimizableGraph::Vertex::b ( int i ) const [pure virtual]

get the b vector element

Implemented in g2o::BaseVertex< D, T >, g2o::BaseVertex< 3, Vector3 >, g2o::BaseVertex< 3, SE2 >, g2o::BaseVertex< 4, Matrix< double, 5, 1 > >, g2o::BaseVertex< 7, Sim3 >, g2o::BaseVertex< 3, Vector3d >, g2o::BaseVertex< 6, SBACam >, g2o::BaseVertex< 6, SE3AxisAngle >, g2o::BaseVertex< 2, Eigen::Vector2d >, and g2o::BaseVertex< 6, SE3Quat >.

virtual double& g2o::OptimizableGraph::Vertex::b ( int i ) [pure virtual]

Implemented in g2o::BaseVertex< D, T >, g2o::BaseVertex< 3, Vector3 >, g2o::BaseVertex< 3, SE2 >, g2o::BaseVertex< 4, Matrix< double, 5, 1 > >, g2o::BaseVertex< 7, Sim3 >, g2o::BaseVertex< 3, Vector3d >, g2o::BaseVertex< 6, SBACam >, g2o::BaseVertex< 6, SE3AxisAngle >, g2o::BaseVertex< 2, Eigen::Vector2d >, and g2o::BaseVertex< 6, SE3Quat >.

virtual double* g2o::OptimizableGraph::Vertex::bData ( ) [pure virtual]

return a pointer to the b vector associated with this vertex

Implemented in g2o::BaseVertex< D, T >, g2o::BaseVertex< 3, Vector3 >, g2o::BaseVertex< 3, SE2 >, g2o::BaseVertex< 4, Matrix< double, 5, 1 > >, g2o::BaseVertex< 7, Sim3 >, g2o::BaseVertex< 3, Vector3d >, g2o::BaseVertex< 6, SBACam >, g2o::BaseVertex< 6, SE3AxisAngle >, g2o::BaseVertex< 2, Eigen::Vector2d >, and g2o::BaseVertex< 6, SE3Quat >.

virtual void g2o::OptimizableGraph::Vertex::clearQuadraticForm ( ) [pure virtual]

set the b vector part of this vertex to zero

Implemented in g2o::BaseVertex< D, T >, g2o::BaseVertex< 3, Vector3 >, g2o::BaseVertex< 3, SE2 >, g2o::BaseVertex< 4, Matrix< double, 5, 1 > >, g2o::BaseVertex< 7, Sim3 >, g2o::BaseVertex< 3, Vector3d >, g2o::BaseVertex< 6, SBACam >, g2o::BaseVertex< 6, SE3AxisAngle >, g2o::BaseVertex< 2, Eigen::Vector2d >, and g2o::BaseVertex< 6, SE3Quat >.

OptimizableGraph::Vertex * g2o::OptimizableGraph::Vertex::clone ( void ) const [virtual]

returns a deep copy of the current vertex

Definition at line 52 of file optimizable_graph.cpp.

int g2o::OptimizableGraph::Vertex::colInHessian ( ) const [inline]

get the row of this vertex in the Hessian

Definition at line 228 of file optimizable_graph.h.

virtual int g2o::OptimizableGraph::Vertex::copyB ( double * b_ ) const [pure virtual]

copies the b vector in the array b_

Returns:: the number of elements copied

Implemented in g2o::BaseVertex< D, T >, g2o::BaseVertex< 3, Vector3 >, g2o::BaseVertex< 3, SE2 >, g2o::BaseVertex< 4, Matrix< double, 5, 1 > >, g2o::BaseVertex< 7, Sim3 >, g2o::BaseVertex< 3, Vector3d >, g2o::BaseVertex< 6, SBACam >, g2o::BaseVertex< 6, SE3AxisAngle >, g2o::BaseVertex< 2, Eigen::Vector2d >, and g2o::BaseVertex< 6, SE3Quat >.

int g2o::OptimizableGraph::Vertex::dimension ( ) const [inline]

dimension of the estimated state belonging to this node

Definition at line 220 of file optimizable_graph.h.

virtual void g2o::OptimizableGraph::Vertex::discardTop ( ) [pure virtual]

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

Implemented in g2o::BaseVertex< D, T >, g2o::BaseVertex< 3, Vector3 >, g2o::BaseVertex< 3, SE2 >, g2o::BaseVertex< 4, Matrix< double, 5, 1 > >, g2o::BaseVertex< 7, Sim3 >, g2o::BaseVertex< 3, Vector3d >, g2o::BaseVertex< 6, SBACam >, g2o::BaseVertex< 6, SE3AxisAngle >, g2o::BaseVertex< 2, Eigen::Vector2d >, and g2o::BaseVertex< 6, SE3Quat >.

int g2o::OptimizableGraph::Vertex::estimateDimension ( ) const [virtual]

returns the dimension of the extended representation used by get/setEstimate(double*) -1 if it is not supported

Reimplemented in g2o::VertexSE3, g2o::VertexSE2, and g2o::VertexPointXY.

Definition at line 68 of file optimizable_graph.cpp.

bool g2o::OptimizableGraph::Vertex::fixed ( ) const [inline]

true => this node is fixed during the optimization

Definition at line 210 of file optimizable_graph.h.

bool g2o::OptimizableGraph::Vertex::getEstimateData ( double * estimate ) const [virtual]

writes the estimater to an array of double

Returns:: true on success

Reimplemented in g2o::VertexSE3, g2o::VertexSE2, and g2o::VertexPointXY.

Definition at line 63 of file optimizable_graph.cpp.

bool g2o::OptimizableGraph::Vertex::getMinimalEstimateData ( double * estimate ) const [virtual]

writes the estimater to an array of double

Returns:: true on success

Reimplemented in g2o::VertexSE3, g2o::VertexSE2, and g2o::VertexPointXY.

Definition at line 78 of file optimizable_graph.cpp.

const OptimizableGraph* g2o::OptimizableGraph::Vertex::graph ( ) const [inline]

Definition at line 230 of file optimizable_graph.h.

virtual const double& g2o::OptimizableGraph::Vertex::hessian	(	int	i,
		int	j
	)		const `[pure virtual]`

get the element from the hessian matrix

Implemented in g2o::BaseVertex< D, T >, g2o::BaseVertex< 3, Vector3 >, g2o::BaseVertex< 3, SE2 >, g2o::BaseVertex< 4, Matrix< double, 5, 1 > >, g2o::BaseVertex< 7, Sim3 >, g2o::BaseVertex< 3, Vector3d >, g2o::BaseVertex< 6, SBACam >, g2o::BaseVertex< 6, SE3AxisAngle >, g2o::BaseVertex< 2, Eigen::Vector2d >, and g2o::BaseVertex< 6, SE3Quat >.

virtual double& g2o::OptimizableGraph::Vertex::hessian	(	int	i,
		int	j
	)		`[pure virtual]`

Implemented in g2o::BaseVertex< D, T >, g2o::BaseVertex< 3, Vector3 >, g2o::BaseVertex< 3, SE2 >, g2o::BaseVertex< 4, Matrix< double, 5, 1 > >, g2o::BaseVertex< 7, Sim3 >, g2o::BaseVertex< 3, Vector3d >, g2o::BaseVertex< 6, SBACam >, g2o::BaseVertex< 6, SE3AxisAngle >, g2o::BaseVertex< 2, Eigen::Vector2d >, and g2o::BaseVertex< 6, SE3Quat >.

virtual double* g2o::OptimizableGraph::Vertex::hessianData ( ) [pure virtual]

Implemented in g2o::BaseVertex< D, T >, g2o::BaseVertex< 3, Vector3 >, g2o::BaseVertex< 3, SE2 >, g2o::BaseVertex< 4, Matrix< double, 5, 1 > >, g2o::BaseVertex< 7, Sim3 >, g2o::BaseVertex< 3, Vector3d >, g2o::BaseVertex< 6, SBACam >, g2o::BaseVertex< 6, SE3AxisAngle >, g2o::BaseVertex< 2, Eigen::Vector2d >, and g2o::BaseVertex< 6, SE3Quat >.

virtual double g2o::OptimizableGraph::Vertex::hessianDeterminant ( ) const [pure virtual]

Implemented in g2o::BaseVertex< D, T >, g2o::BaseVertex< 3, Vector3 >, g2o::BaseVertex< 3, SE2 >, g2o::BaseVertex< 4, Matrix< double, 5, 1 > >, g2o::BaseVertex< 7, Sim3 >, g2o::BaseVertex< 3, Vector3d >, g2o::BaseVertex< 6, SBACam >, g2o::BaseVertex< 6, SE3AxisAngle >, g2o::BaseVertex< 2, Eigen::Vector2d >, and g2o::BaseVertex< 6, SE3Quat >.

void g2o::OptimizableGraph::Vertex::lockQuadraticForm ( ) [inline]

lock for the block of the hessian and the b vector associated with this vertex, to avoid race-conditions if multi-threaded.

Definition at line 241 of file optimizable_graph.h.

virtual void g2o::OptimizableGraph::Vertex::mapHessianMemory ( double * d ) [pure virtual]

maps the internal matrix to some external memory location

Implemented in g2o::BaseVertex< D, T >, g2o::BaseVertex< 3, Vector3 >, g2o::BaseVertex< 3, SE2 >, g2o::BaseVertex< 4, Matrix< double, 5, 1 > >, g2o::BaseVertex< 7, Sim3 >, g2o::BaseVertex< 3, Vector3d >, g2o::BaseVertex< 6, SBACam >, g2o::BaseVertex< 6, SE3AxisAngle >, g2o::BaseVertex< 2, Eigen::Vector2d >, and g2o::BaseVertex< 6, SE3Quat >.

bool g2o::OptimizableGraph::Vertex::marginalized ( ) const [inline]

true => this node is marginalized out during the optimization

Definition at line 215 of file optimizable_graph.h.

int g2o::OptimizableGraph::Vertex::minimalEstimateDimension ( ) const [virtual]

returns the dimension of the extended representation used by get/setEstimate(double*) -1 if it is not supported

Reimplemented in g2o::VertexSE3, g2o::VertexSE2, and g2o::VertexPointXY.

Definition at line 83 of file optimizable_graph.cpp.

virtual void g2o::OptimizableGraph::Vertex::oplus ( double * v ) [pure virtual]

update the position of the node from the parameters in v

Implemented in g2o::VertexSE3AxisAngle, g2o::VertexSE3AxisAngle, g2o::VertexSCam, g2o::VertexPointXYZ, g2o::VertexPointXYZ, g2o::VertexPointXYZ, g2o::VertexSE3, g2o::VertexCam, g2o::VertexPointXY, g2o::VertexSE3Expmap, g2o::VertexIntrinsics, g2o::VertexSim3Expmap, g2o::tutorial::VertexSE2, g2o::VertexSE2, g2o::tutorial::VertexPointXY, g2o::OnlineVertexSE3, and g2o::OnlineVertexSE2.

virtual void g2o::OptimizableGraph::Vertex::pop ( ) [pure virtual]

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

Implemented in g2o::VertexSE3AxisAngle, g2o::VertexSE3AxisAngle, g2o::BaseVertex< D, T >, g2o::BaseVertex< 3, Vector3 >, g2o::BaseVertex< 3, SE2 >, g2o::BaseVertex< 4, Matrix< double, 5, 1 > >, g2o::BaseVertex< 7, Sim3 >, g2o::BaseVertex< 3, Vector3d >, g2o::BaseVertex< 6, SBACam >, g2o::BaseVertex< 6, SE3AxisAngle >, g2o::BaseVertex< 2, Eigen::Vector2d >, and g2o::BaseVertex< 6, SE3Quat >.

virtual void g2o::OptimizableGraph::Vertex::push ( ) [pure virtual]

backup the position of the vertex to a stack

Implemented in g2o::VertexSE3AxisAngle, g2o::VertexSE3AxisAngle, g2o::BaseVertex< D, T >, g2o::BaseVertex< 3, Vector3 >, g2o::BaseVertex< 3, SE2 >, g2o::BaseVertex< 4, Matrix< double, 5, 1 > >, g2o::BaseVertex< 7, Sim3 >, g2o::BaseVertex< 3, Vector3d >, g2o::BaseVertex< 6, SBACam >, g2o::BaseVertex< 6, SE3AxisAngle >, g2o::BaseVertex< 2, Eigen::Vector2d >, and g2o::BaseVertex< 6, SE3Quat >.

virtual bool g2o::OptimizableGraph::Vertex::read ( std::istream & is ) [pure virtual]

read the vertex from a stream, i.e., the internal state of the vertex

Implemented in g2o::VertexSE3AxisAngle, g2o::VertexSE3AxisAngle, g2o::VertexSCam, g2o::VertexPointXYZ, g2o::VertexPointXYZ, g2o::VertexPointXYZ, g2o::VertexPointXY, g2o::VertexSE2, g2o::VertexCam, g2o::tutorial::VertexSE2, g2o::tutorial::VertexPointXY, g2o::VertexSE3, g2o::VertexSE3Expmap, g2o::VertexIntrinsics, and g2o::VertexSim3Expmap.

void g2o::OptimizableGraph::Vertex::setColInHessian ( int c ) [inline]

set the row of this vertex in the Hessian

Definition at line 226 of file optimizable_graph.h.

bool g2o::OptimizableGraph::Vertex::setEstimateData ( const double * estimate ) [virtual]

sets the initial estimate from an array of double

Returns:: true on success

Reimplemented in g2o::VertexSE2, g2o::VertexSE3, and g2o::VertexPointXY.

Definition at line 58 of file optimizable_graph.cpp.

void g2o::OptimizableGraph::Vertex::setFixed ( bool fixed ) [inline]

true => this node should be considered fixed during the optimization

Definition at line 212 of file optimizable_graph.h.

void g2o::OptimizableGraph::Vertex::setId ( int id ) [inline]

sets the id of the node in the graph be sure that the graph keeps consistent after changing the id

Definition at line 223 of file optimizable_graph.h.

void g2o::OptimizableGraph::Vertex::setMarginalized ( bool marginalized ) [inline]

true => this node should be marginalized out during the optimization

Definition at line 217 of file optimizable_graph.h.

bool g2o::OptimizableGraph::Vertex::setMinimalEstimateData ( const double * estimate ) [virtual]

sets the initial estimate from an array of double

Returns:: true on success

Reimplemented in g2o::VertexSE3, g2o::VertexSE2, and g2o::VertexPointXY.

Definition at line 73 of file optimizable_graph.cpp.

void g2o::OptimizableGraph::Vertex::setTempIndex ( int ti ) [inline]

set the temporary index of the vertex in the parameter blocks

Definition at line 207 of file optimizable_graph.h.

virtual void g2o::OptimizableGraph::Vertex::setToOrigin ( ) [pure virtual]

sets the node to the origin (used in the multilevel stuff)

Implemented in g2o::VertexSE3AxisAngle, g2o::VertexSE3AxisAngle, g2o::VertexPointXYZ, g2o::VertexPointXYZ, g2o::VertexPointXYZ, g2o::VertexCam, g2o::VertexSE3Expmap, g2o::VertexIntrinsics, g2o::VertexSim3Expmap, g2o::VertexSE3, g2o::tutorial::VertexSE2, g2o::VertexSE2, g2o::tutorial::VertexPointXY, and g2o::VertexPointXY.

virtual void g2o::OptimizableGraph::Vertex::setUncertainty ( double * c ) [pure virtual]

sets the covariance/information of the node, used internally

Implemented in g2o::BaseVertex< D, T >, g2o::BaseVertex< 3, Vector3 >, g2o::BaseVertex< 3, SE2 >, g2o::BaseVertex< 4, Matrix< double, 5, 1 > >, g2o::BaseVertex< 7, Sim3 >, g2o::BaseVertex< 3, Vector3d >, g2o::BaseVertex< 6, SBACam >, g2o::BaseVertex< 6, SE3AxisAngle >, g2o::BaseVertex< 2, Eigen::Vector2d >, and g2o::BaseVertex< 6, SE3Quat >.

void g2o::OptimizableGraph::Vertex::setUserData ( Data * obs ) [inline]

Definition at line 113 of file optimizable_graph.h.

virtual double g2o::OptimizableGraph::Vertex::solveDirect ( double lambda = 0 ) [pure virtual]

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

Returns:: the determinant of the inverted hessian

Implemented in g2o::BaseVertex< D, T >, g2o::BaseVertex< 3, Vector3 >, g2o::BaseVertex< 3, SE2 >, g2o::BaseVertex< 4, Matrix< double, 5, 1 > >, g2o::BaseVertex< 7, Sim3 >, g2o::BaseVertex< 3, Vector3d >, g2o::BaseVertex< 6, SBACam >, g2o::BaseVertex< 6, SE3AxisAngle >, g2o::BaseVertex< 2, Eigen::Vector2d >, and g2o::BaseVertex< 6, SE3Quat >.

virtual int g2o::OptimizableGraph::Vertex::stackSize ( ) const [pure virtual]

return the stack size

Implemented in g2o::BaseVertex< D, T >, g2o::BaseVertex< 3, Vector3 >, g2o::BaseVertex< 3, SE2 >, g2o::BaseVertex< 4, Matrix< double, 5, 1 > >, g2o::BaseVertex< 7, Sim3 >, g2o::BaseVertex< 3, Vector3d >, g2o::BaseVertex< 6, SBACam >, g2o::BaseVertex< 6, SE3AxisAngle >, g2o::BaseVertex< 2, Eigen::Vector2d >, and g2o::BaseVertex< 6, SE3Quat >.

int g2o::OptimizableGraph::Vertex::tempIndex ( ) const [inline]

temporary index of this node in the parameter vector obtained from linearization

Definition at line 205 of file optimizable_graph.h.

virtual double* g2o::OptimizableGraph::Vertex::uncertaintyData ( ) [pure virtual]

return the pointer to the uncertainty (marginal covariance)

Implemented in g2o::BaseVertex< D, T >, g2o::BaseVertex< 3, Vector3 >, g2o::BaseVertex< 3, SE2 >, g2o::BaseVertex< 4, Matrix< double, 5, 1 > >, g2o::BaseVertex< 7, Sim3 >, g2o::BaseVertex< 3, Vector3d >, g2o::BaseVertex< 6, SBACam >, g2o::BaseVertex< 6, SE3AxisAngle >, g2o::BaseVertex< 2, Eigen::Vector2d >, and g2o::BaseVertex< 6, SE3Quat >.

void g2o::OptimizableGraph::Vertex::unlockQuadraticForm ( ) [inline]

unlock the block of the hessian and the b vector associated with this vertex

Definition at line 245 of file optimizable_graph.h.

const Data* g2o::OptimizableGraph::Vertex::userData ( ) const [inline]

the user data associated with this vertex

Definition at line 110 of file optimizable_graph.h.

Data* g2o::OptimizableGraph::Vertex::userData ( ) [inline]

Definition at line 111 of file optimizable_graph.h.

virtual bool g2o::OptimizableGraph::Vertex::write ( std::ostream & os ) const [pure virtual]

write the vertex to a stream

Implemented in g2o::VertexSE3AxisAngle, g2o::VertexSE3AxisAngle, g2o::VertexSCam, g2o::VertexPointXYZ, g2o::VertexPointXYZ, g2o::VertexPointXYZ, g2o::VertexPointXY, g2o::VertexSE2, g2o::VertexCam, g2o::tutorial::VertexSE2, g2o::tutorial::VertexPointXY, g2o::VertexSE3, g2o::VertexSE3Expmap, g2o::VertexIntrinsics, and g2o::VertexSim3Expmap.

Friends And Related Function Documentation

friend struct OptimizableGraph [friend]

Definition at line 102 of file optimizable_graph.h.

Member Data Documentation

int g2o::OptimizableGraph::Vertex::_colInHessian [protected]

Definition at line 259 of file optimizable_graph.h.

int g2o::OptimizableGraph::Vertex::_dimension [protected]

Definition at line 258 of file optimizable_graph.h.

bool g2o::OptimizableGraph::Vertex::_fixed [protected]

Definition at line 256 of file optimizable_graph.h.

OptimizableGraph* g2o::OptimizableGraph::Vertex::_graph [protected]

Definition at line 253 of file optimizable_graph.h.

bool g2o::OptimizableGraph::Vertex::_marginalized [protected]

Definition at line 257 of file optimizable_graph.h.

OpenMPMutex g2o::OptimizableGraph::Vertex::_quadraticFormMutex [protected]

Definition at line 260 of file optimizable_graph.h.

int g2o::OptimizableGraph::Vertex::_tempIndex [protected]

Definition at line 255 of file optimizable_graph.h.

Data* g2o::OptimizableGraph::Vertex::_userData [protected]

Definition at line 254 of file optimizable_graph.h.

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

Public Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation