base_vertex.hpp
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26 
27 template <int D, typename T>
28 BaseVertex<D, T>::BaseVertex() :
29  OptimizableGraph::Vertex(),
30  _hessian(0, D, D)
31 {
32  _dimension = D;
33 }
34 
35 template <int D, typename T>
36 double BaseVertex<D, T>::solveDirect(double lambda) {
37  Matrix <double, D, D> tempA=_hessian + Matrix <double, D, D>::Identity()*lambda;
38  double det=tempA.determinant();
39  if (g2o_isnan(det) || det < std::numeric_limits<double>::epsilon())
40  return det;
41  Matrix <double, D, 1> dx=tempA.llt().solve(_b);
42  oplus(&dx[0]);
43  return det;
44 }
45 
46 template <int D, typename T>
47 void BaseVertex<D, T>::clearQuadraticForm() {
48  _b.setZero();
49 }
50 
51 template <int D, typename T>
52 void BaseVertex<D, T>::mapHessianMemory(double* d)
53 {
54  new (&_hessian) HessianBlockType(d, D, D);
55 }
#define g2o_isnan(x)
Definition: macros.h:105


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