base_unary_edge.h
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26 
27 #ifndef G2O_BASE_UNARY_EDGE_H
28 #define G2O_BASE_UNARY_EDGE_H
29 
30 #include <iostream>
31 #include <cassert>
32 #include <limits>
33 
34 #include "base_edge.h"
35 #include "robust_kernel.h"
36 #include "../../config.h"
37 
38 namespace g2o {
39 
40  using namespace Eigen;
41 
42  template <int D, typename E, typename VertexXi>
43  class BaseUnaryEdge : public BaseEdge<D,E>
44  {
45  public:
46  static const int Dimension = BaseEdge<D, E>::Dimension;
48  typedef VertexXi VertexXiType;
49  typedef typename Matrix<double, D, VertexXiType::Dimension>::AlignedMapType JacobianXiOplusType;
52 
53  BaseUnaryEdge() : BaseEdge<D,E>(),
54  _jacobianOplusXi(0, D, VertexXiType::Dimension)
55  {
56  _vertices.resize(1);
57  }
58 
59  virtual void resize(size_t size);
60 
61  virtual bool allVerticesFixed() const;
62 
63  virtual void linearizeOplus(JacobianWorkspace& jacobianWorkspace);
64 
69  virtual void linearizeOplus();
70 
72  const JacobianXiOplusType& jacobianOplusXi() const { return _jacobianOplusXi;}
73 
74  virtual void constructQuadraticForm();
75 
76  virtual void initialEstimate(const OptimizableGraph::VertexSet& from, OptimizableGraph::Vertex* to);
77 
78  virtual void mapHessianMemory(double*, int, int, bool) {assert(0 && "BaseUnaryEdge does not map memory of the Hessian");}
79 
82 
83  protected:
89 
90  JacobianXiOplusType _jacobianOplusXi;
91 
92  public:
93  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
94  };
95 
96 #include "base_unary_edge.hpp"
97 
98 } // end namespace g2o
99 
100 #endif
BaseEdge< D, E >::ErrorVector ErrorVector
Matrix< double, D, VertexXiType::Dimension >::AlignedMapType JacobianXiOplusType
const JacobianXiOplusType & jacobianOplusXi() const
returns the result of the linearization in the manifold space for the node xi
std::set< Vertex * > VertexSet
Definition: hyper_graph.h:91
JacobianXiOplusType _jacobianOplusXi
BaseEdge< D, E >::InformationType InformationType
Matrix< double, D, 1 > ErrorVector
Definition: base_edge.h:48
BaseEdge< D, E >::Measurement Measurement
A general case Vertex for optimization.
virtual void resize(size_t size)
Definition: hyper_graph.cpp:50
virtual void mapHessianMemory(double *, int, int, bool)
provide memory workspace for computing the Jacobians
Matrix< double, D, D > InformationType
Definition: base_edge.h:49


orb_slam2_with_maps_odom
Author(s): teng zhang
autogenerated on Fri Sep 25 2020 03:24:47