Classes | Public Member Functions | Protected Member Functions | Protected Attributes | Friends
AISNavigation::CholOptimizer< PG > Struct Template Reference

#include <graph_optimizer_chol.h>

Inheritance diagram for AISNavigation::CholOptimizer< PG >:
Inheritance graph
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List of all members.

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]
template<typename PG>
bool& AISNavigation::CholOptimizer< PG >::useManifold ( ) [inline]

Definition at line 65 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.h.

template<typename PG>
bool& AISNavigation::CholOptimizer< PG >::useManifold ( ) [inline]

Definition at line 65 of file src/graph_optimizer_hogman/graph_optimizer_chol.h.

Friends And Related Function Documentation

template<typename PG>
friend struct ActivePathUniformCostFunction< PG > [friend]

Definition at line 54 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.h.

Member Data Documentation

template<typename PG>
std::set< typename PG::Edge * > AISNavigation::CholOptimizer< PG >::_activeEdges [protected]

Definition at line 91 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.h.

template<typename PG>
int AISNavigation::CholOptimizer< PG >::_addDuplicateEdgeIterations [protected]

Definition at line 97 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.h.

template<typename PG>
int * AISNavigation::CholOptimizer< PG >::_csIntWorkspace [protected]

Definition at line 113 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.h.

template<typename PG>
double * AISNavigation::CholOptimizer< PG >::_csInvWorkB [protected]

Definition at line 116 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.h.

template<typename PG>
int AISNavigation::CholOptimizer< PG >::_csInvWorkspaceSize [protected]

Definition at line 115 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.h.

template<typename PG>
double * AISNavigation::CholOptimizer< PG >::_csInvWorkTemp [protected]

Definition at line 117 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.h.

template<typename PG>
double * AISNavigation::CholOptimizer< PG >::_csWorkspace [protected]

Definition at line 112 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.h.

template<typename PG>
int AISNavigation::CholOptimizer< PG >::_csWorkspaceSize [protected]

Definition at line 111 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.h.

template<typename PG>
std::vector< typename PG::Vertex * > AISNavigation::CholOptimizer< PG >::_ivMap [protected]

Definition at line 90 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.h.

template<typename PG>
int AISNavigation::CholOptimizer< PG >::_nBlocks [protected]

Definition at line 103 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.h.

template<typename PG>
int AISNavigation::CholOptimizer< PG >::_rootNode [protected]

Definition at line 89 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.h.

template<typename PG>
double * AISNavigation::CholOptimizer< PG >::_sparseB [protected]

Definition at line 102 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.h.

template<typename PG>
int AISNavigation::CholOptimizer< PG >::_sparseDim [protected]

Definition at line 104 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.h.

template<typename PG>
int AISNavigation::CholOptimizer< PG >::_sparseDimMax [protected]

Definition at line 105 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.h.

template<typename PG>
SparseMatrixEntry * AISNavigation::CholOptimizer< PG >::_sparseMatrix [protected]

Definition at line 100 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.h.

template<typename PG>
SparseMatrixEntry ** AISNavigation::CholOptimizer< PG >::_sparseMatrixPtr [protected]

used to avoid multiple sorting

Definition at line 101 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.h.

template<typename PG>
int AISNavigation::CholOptimizer< PG >::_sparseNz [protected]

Definition at line 106 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.h.

template<typename PG>
int AISNavigation::CholOptimizer< PG >::_sparseNzMax [protected]

Definition at line 107 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.h.

template<typename PG>
css * AISNavigation::CholOptimizer< PG >::_symbolicCholesky [protected]

Definition at line 109 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.h.

template<typename PG>
bool AISNavigation::CholOptimizer< PG >::_useRelativeError [protected]

Definition at line 118 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer_chol.h.

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

hogman_minimal
Author(s): Maintained by Juergen Sturm
autogenerated on Mon Oct 6 2014 00:07:00