Class that contains the core optimization algorithm. More...
#include <treeoptimizer3.hh>
Classes | |
| struct | PM_t |
Public Types | |
| typedef std::vector< Pose > | PoseVector |
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 Attributes | |
| int | iteration |
| bool | restartOnDivergence |
| double | rpFraction |
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 Attributes | |
| double | gamma [2] |
| PMVector | M |
| std::vector< double > | maxRotationalErrors |
| std::vector< double > | maxTranslationalErrors |
| int | mpl |
| double | rotGain |
| double | trasGain |
Detailed Description
Class that contains the core optimization algorithm.
Definition at line 52 of file treeoptimizer3.hh.
Member Typedef Documentation
typedef std::vector< PM_t > AISNavigation::TreeOptimizer3::PMVector [protected] |
Definition at line 135 of file treeoptimizer3.hh.
| typedef std::vector<Pose> AISNavigation::TreeOptimizer3::PoseVector |
Definition at line 53 of file treeoptimizer3.hh.
Constructor & Destructor Documentation
Constructor
Definition at line 56 of file treeoptimizer3.cpp.
| AISNavigation::TreeOptimizer3::~TreeOptimizer3 | ( | ) | [virtual] |
Destructor
Definition at line 64 of file treeoptimizer3.cpp.
Member Function Documentation
| double AISNavigation::TreeOptimizer3::angularError | ( | ) | const |
Conmputes the gloabl error of the network
| void AISNavigation::TreeOptimizer3::computePreconditioner | ( | ) | [protected] |
Definition at line 86 of file treeoptimizer3_iteration.cpp.
| 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 249 of file treeoptimizer3.cpp.
| double AISNavigation::TreeOptimizer3::error | ( | const Edge * | e | ) | const [protected] |
Computes the error of the constraint/edge e
Definition at line 169 of file treeoptimizer3.cpp.
| 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 145 of file treeoptimizer3.cpp.
| 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 156 of file treeoptimizer3.cpp.
| double AISNavigation::TreeOptimizer3::getRotGain | ( | ) | const [inline] |
Definition at line 85 of file treeoptimizer3.hh.
Definition at line 313 of file treeoptimizer3.cpp.
| void AISNavigation::TreeOptimizer3::initializeOnlineOptimization | ( | EdgeCompareMode | mode = EVComparator<Edge*>::CompareLevel | ) |
Definition at line 325 of file treeoptimizer3.cpp.
| void AISNavigation::TreeOptimizer3::initializeOptimization | ( | EdgeCompareMode | mode = EVComparator<Edge*>::CompareLevel | ) |
Initialization function
Definition at line 292 of file treeoptimizer3.cpp.
Initialization function
Definition at line 67 of file treeoptimizer3.cpp.
| bool AISNavigation::TreeOptimizer3::isDone | ( | ) | [protected, virtual] |
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 355 of file treeoptimizer3.cpp.
| void AISNavigation::TreeOptimizer3::iterate | ( | TreePoseGraph3::EdgeSet * | eset = 0, |
| bool | noPreconditioner = false |
||
| ) |
Performs one iteration of the algorithm
Definition at line 73 of file treeoptimizer3.cpp.
| double AISNavigation::TreeOptimizer3::loopError | ( | const Edge * | e | ) | const [protected] |
Computes the error of the constraint/edge e
Definition at line 214 of file treeoptimizer3.cpp.
| double AISNavigation::TreeOptimizer3::loopRotationalError | ( | const Edge * | e | ) | const [protected] |
Computes the rotational error of the constraint/edge e
Definition at line 231 of file treeoptimizer3.cpp.
| void AISNavigation::TreeOptimizer3::onIterationFinished | ( | int | iteration | ) | [protected, virtual] |
callback invoked after finishing a full iteration,
- Parameters:
-
i,: the current iteration number
Definition at line 349 of file treeoptimizer3.cpp.
| void AISNavigation::TreeOptimizer3::onIterationStart | ( | int | i | ) | [protected, virtual] |
callback invoked before starting a full iteration,
- Parameters:
-
i,: the current iteration number
Definition at line 345 of file treeoptimizer3.cpp.
| void AISNavigation::TreeOptimizer3::onRestartBegin | ( | ) | [protected, virtual] |
callback invoked before a restart of the optimizer when the angular wraparound is detected
Definition at line 353 of file treeoptimizer3.cpp.
| void AISNavigation::TreeOptimizer3::onRestartDone | ( | ) | [protected, virtual] |
callback invoked after a restart of the optimizer
Definition at line 354 of file treeoptimizer3.cpp.
| void AISNavigation::TreeOptimizer3::onStepFinished | ( | Edge * | e | ) | [protected, virtual] |
callback invoked after finishing the optimization of an individual constraint,
- Parameters:
-
e,: the constraint optimized
Definition at line 341 of file treeoptimizer3.cpp.
| void AISNavigation::TreeOptimizer3::onStepStart | ( | Edge * | e | ) | [protected, virtual] |
callback invoked before starting the optimization of an individual constraint,
- Parameters:
-
e,: the constraint being optimized
Definition at line 338 of file treeoptimizer3.cpp.
| void AISNavigation::TreeOptimizer3::propagateErrors | ( | bool | usePreconditioner = false | ) | [protected] |
Definition at line 128 of file treeoptimizer3_iteration.cpp.
| void AISNavigation::TreeOptimizer3::recomputeParameters | ( | Vertex * | v, |
| Vertex * | top | ||
| ) | [protected] |
Definition at line 137 of file treeoptimizer3.cpp.
| void AISNavigation::TreeOptimizer3::recomputeTransformations | ( | Vertex * | v, |
| Vertex * | top | ||
| ) | [protected] |
Definition at line 129 of file treeoptimizer3.cpp.
| double AISNavigation::TreeOptimizer3::rotationalError | ( | const Edge * | e | ) | const [protected] |
Conmputes the error of the constraint/edge e
Definition at line 200 of file treeoptimizer3.cpp.
| double AISNavigation::TreeOptimizer3::translationalError | ( | ) | const |
Conmputes the gloabl error of the network
| double AISNavigation::TreeOptimizer3::translationalError | ( | const Edge * | e | ) | const [protected] |
Conmputes the error of the constraint/edge e
| double AISNavigation::TreeOptimizer3::traslationalError | ( | const Edge * | e | ) | const [protected] |
Definition at line 187 of file treeoptimizer3.cpp.
Member Data Documentation
double AISNavigation::TreeOptimizer3::gamma[2] [protected] |
Used to compute the learning rate lambda
Definition at line 128 of file treeoptimizer3.hh.
Iteration counter
Definition at line 88 of file treeoptimizer3.hh.
PMVector AISNavigation::TreeOptimizer3::M [protected] |
Definition at line 136 of file treeoptimizer3.hh.
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.hh.
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.hh.
int AISNavigation::TreeOptimizer3::mpl [protected] |
cached maximum path length
Definition at line 139 of file treeoptimizer3.hh.
Definition at line 83 of file treeoptimizer3.hh.
double AISNavigation::TreeOptimizer3::rotGain [protected] |
Definition at line 146 of file treeoptimizer3.hh.
Definition at line 90 of file treeoptimizer3.hh.
double AISNavigation::TreeOptimizer3::trasGain [protected] |
Definition at line 146 of file treeoptimizer3.hh.
The documentation for this struct was generated from the following files: