Public Types | Public Member Functions | Static Public Attributes | Protected Attributes | List of all members
g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj > Class Template Reference

#include <base_binary_edge.h>

Inheritance diagram for g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >:
Inheritance graph
[legend]

Public Types

typedef BaseEdge< D, E >::ErrorVector ErrorVector
 
typedef Eigen::Map< Matrix< double, Dj, Di >, Matrix< double, Dj, Di >::Flags &AlignedBit?Aligned:Unaligned > HessianBlockTransposedType
 
typedef Eigen::Map< Matrix< double, Di, Dj >, Matrix< double, Di, Dj >::Flags &AlignedBit?Aligned:Unaligned > HessianBlockType
 
typedef BaseEdge< D, E >::InformationType InformationType
 
typedef Matrix< double, D, Di >::AlignedMapType JacobianXiOplusType
 
typedef Matrix< double, D, Dj >::AlignedMapType JacobianXjOplusType
 
typedef BaseEdge< D, E >::Measurement Measurement
 
typedef VertexXi VertexXiType
 
typedef VertexXj VertexXjType
 
- Public Types inherited from g2o::BaseEdge< D, E >
typedef Matrix< double, D, 1 > ErrorVector
 
typedef Matrix< double, D, D > InformationType
 
typedef E Measurement
 

Public Member Functions

virtual bool allVerticesFixed () const
 
 BaseBinaryEdge ()
 
virtual void constructQuadraticForm ()
 
virtual OptimizableGraph::VertexcreateFrom ()
 
virtual OptimizableGraph::VertexcreateTo ()
 
const JacobianXiOplusTypejacobianOplusXi () const
 returns the result of the linearization in the manifold space for the node xi More...
 
const JacobianXjOplusTypejacobianOplusXj () const
 returns the result of the linearization in the manifold space for the node xj More...
 
virtual void linearizeOplus (JacobianWorkspace &jacobianWorkspace)
 
virtual void linearizeOplus ()
 
virtual void mapHessianMemory (double *d, int i, int j, bool rowMajor)
 
virtual void resize (size_t size)
 
- Public Member Functions inherited from g2o::BaseEdge< D, E >
 BaseEdge ()
 
virtual double chi2 () const
 computes the chi2 based on the cached error value, only valid after computeError has been called. More...
 
const ErrorVectorerror () const
 
ErrorVectorerror ()
 
virtual const double * errorData () const
 returns the error vector cached after calling the computeError; More...
 
virtual double * errorData ()
 
const InformationTypeinformation () const
 information matrix of the constraint More...
 
InformationTypeinformation ()
 
virtual const double * informationData () const
 returns the memory of the information matrix, usable for example with a Eigen::Map<MatrixXd> More...
 
virtual double * informationData ()
 
virtual void initialEstimate (const OptimizableGraph::VertexSet &, OptimizableGraph::Vertex *)
 
const Measurementmeasurement () const
 accessor functions for the measurement represented by the edge More...
 
virtual int rank () const
 
void setInformation (const InformationType &information)
 
virtual void setMeasurement (const Measurement &m)
 
virtual ~BaseEdge ()
 
- Public Member Functions inherited from g2o::OptimizableGraph::Edge
virtual Edgeclone () const
 
virtual void computeError ()=0
 
int dimension () const
 returns the dimensions of the error function More...
 
 Edge ()
 
virtual bool getMeasurementData (double *m) const
 
OptimizableGraphgraph ()
 
const OptimizableGraphgraph () const
 
virtual double initialEstimatePossible (const OptimizableGraph::VertexSet &from, OptimizableGraph::Vertex *to)
 
long long internalId () const
 the internal ID of the edge More...
 
int level () const
 returns the level of the edge More...
 
virtual int measurementDimension () const
 
size_t numParameters () const
 
const Parameterparameter (int argNo) const
 
virtual bool read (std::istream &is)=0
 read the vertex from a stream, i.e., the internal state of the vertex More...
 
void resizeParameters (size_t newSize)
 
RobustKernelrobustKernel () const
 if NOT NULL, error of this edge will be robustifed with the kernel More...
 
void setLevel (int l)
 sets the level of the edge More...
 
virtual bool setMeasurementData (const double *m)
 
virtual bool setMeasurementFromState ()
 
bool setParameterId (int argNum, int paramId)
 
void setRobustKernel (RobustKernel *ptr)
 
virtual bool write (std::ostream &os) const =0
 write the vertex to a stream More...
 
virtual ~Edge ()
 
- Public Member Functions inherited from g2o::HyperGraph::Edge
 Edge (int id=-1)
 creates and empty edge with no vertices More...
 
virtual HyperGraphElementType elementType () const
 
int id () const
 
void setId (int id)
 
void setVertex (size_t i, Vertex *v)
 
const Vertexvertex (size_t i) const
 
Vertexvertex (size_t i)
 
const VertexContainervertices () const
 
VertexContainervertices ()
 
- Public Member Functions inherited from g2o::HyperGraph::HyperGraphElement
virtual ~HyperGraphElement ()
 

Static Public Attributes

static const int Di = VertexXiType::Dimension
 
static const int Dimension = BaseEdge<D, E>::Dimension
 
static const int Dj = VertexXjType::Dimension
 
- Static Public Attributes inherited from g2o::BaseEdge< D, E >
static const int Dimension = D
 

Protected Attributes

HessianBlockType _hessian
 
bool _hessianRowMajor
 
HessianBlockTransposedType _hessianTransposed
 
JacobianXiOplusType _jacobianOplusXi
 
JacobianXjOplusType _jacobianOplusXj
 
- Protected Attributes inherited from g2o::BaseEdge< D, E >
ErrorVector _error
 
InformationType _information
 
Measurement _measurement
 
- Protected Attributes inherited from g2o::OptimizableGraph::Edge
std::vector< int > _cacheIds
 
int _dimension
 
long long _internalId
 
int _level
 
std::vector< int > _parameterIds
 
std::vector< Parameter ** > _parameters
 
std::vector< std::string > _parameterTypes
 
RobustKernel_robustKernel
 
- Protected Attributes inherited from g2o::HyperGraph::Edge
int _id
 unique id More...
 
VertexContainer _vertices
 

Additional Inherited Members

- Protected Member Functions inherited from g2o::BaseEdge< D, E >
InformationType robustInformation (const Eigen::Vector3d &rho)
 
- Protected Member Functions inherited from g2o::OptimizableGraph::Edge
template<typename ParameterType >
bool installParameter (ParameterType *&p, size_t argNo, int paramId=-1)
 
template<typename CacheType >
void resolveCache (CacheType *&cache, OptimizableGraph::Vertex *, const std::string &_type, const ParameterVector &parameters)
 
virtual bool resolveCaches ()
 
bool resolveParameters ()
 

Detailed Description

template<int D, typename E, typename VertexXi, typename VertexXj>
class g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >

Definition at line 42 of file base_binary_edge.h.

Member Typedef Documentation

template<int D, typename E, typename VertexXi, typename VertexXj>
typedef BaseEdge<D,E>::ErrorVector g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::ErrorVector

Definition at line 56 of file base_binary_edge.h.

template<int D, typename E, typename VertexXi, typename VertexXj>
typedef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::HessianBlockTransposedType

Definition at line 60 of file base_binary_edge.h.

template<int D, typename E, typename VertexXi, typename VertexXj>
typedef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::HessianBlockType

Definition at line 59 of file base_binary_edge.h.

template<int D, typename E, typename VertexXi, typename VertexXj>
typedef BaseEdge<D,E>::InformationType g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::InformationType

Definition at line 57 of file base_binary_edge.h.

template<int D, typename E, typename VertexXi, typename VertexXj>
typedef Matrix<double, D, Di>::AlignedMapType g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::JacobianXiOplusType

Definition at line 54 of file base_binary_edge.h.

template<int D, typename E, typename VertexXi, typename VertexXj>
typedef Matrix<double, D, Dj>::AlignedMapType g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::JacobianXjOplusType

Definition at line 55 of file base_binary_edge.h.

template<int D, typename E, typename VertexXi, typename VertexXj>
typedef BaseEdge<D,E>::Measurement g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::Measurement

Definition at line 53 of file base_binary_edge.h.

template<int D, typename E, typename VertexXi, typename VertexXj>
typedef VertexXi g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::VertexXiType

Definition at line 46 of file base_binary_edge.h.

template<int D, typename E, typename VertexXi, typename VertexXj>
typedef VertexXj g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::VertexXjType

Definition at line 47 of file base_binary_edge.h.

Constructor & Destructor Documentation

template<int D, typename E, typename VertexXi, typename VertexXj>
g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::BaseBinaryEdge ( )
inline

Definition at line 62 of file base_binary_edge.h.

Member Function Documentation

template<int D, typename E , typename VertexXiType , typename VertexXjType >
bool BaseBinaryEdge::allVerticesFixed ( ) const
virtual

Implements g2o::OptimizableGraph::Edge.

Definition at line 49 of file base_binary_edge.h.

template<int D, typename E , typename VertexXiType , typename VertexXjType >
void BaseBinaryEdge::constructQuadraticForm ( )
virtual

Linearizes the constraint in the edge. Makes side effect on the vertices of the graph by changing the parameter vector b and the hessian blocks ii and jj. The off diagoinal block is accesed via _hessian.

Implements g2o::OptimizableGraph::Edge.

Definition at line 56 of file base_binary_edge.h.

template<int D, typename E , typename VertexXiType , typename VertexXjType >
OptimizableGraph::Vertex * BaseBinaryEdge::createFrom ( )
virtual

Reimplemented from g2o::OptimizableGraph::Edge.

Definition at line 29 of file base_binary_edge.h.

template<int D, typename E , typename VertexXiType , typename VertexXjType >
OptimizableGraph::Vertex * BaseBinaryEdge::createTo ( )
virtual

Reimplemented from g2o::OptimizableGraph::Edge.

Definition at line 34 of file base_binary_edge.h.

template<int D, typename E, typename VertexXi, typename VertexXj>
const JacobianXiOplusType& g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::jacobianOplusXi ( ) const
inline

returns the result of the linearization in the manifold space for the node xi

Definition at line 87 of file base_binary_edge.h.

template<int D, typename E, typename VertexXi, typename VertexXj>
const JacobianXjOplusType& g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::jacobianOplusXj ( ) const
inline

returns the result of the linearization in the manifold space for the node xj

Definition at line 89 of file base_binary_edge.h.

template<int D, typename E , typename VertexXiType , typename VertexXjType >
void BaseBinaryEdge::linearizeOplus ( JacobianWorkspace jacobianWorkspace)
virtual

Linearizes the constraint in the edge in the manifold space, and store the result in the given workspace

Implements g2o::OptimizableGraph::Edge.

Definition at line 124 of file base_binary_edge.h.

template<int D, typename E , typename VertexXiType , typename VertexXjType >
void BaseBinaryEdge::linearizeOplus ( )
virtual

Linearizes the oplus operator in the vertex, and stores the result in temporary variables _jacobianOplusXi and _jacobianOplusXj

Reimplemented in g2o::EdgeStereoSE3ProjectXYZ, and g2o::EdgeSE3ProjectXYZ.

Definition at line 132 of file base_binary_edge.h.

template<int D, typename E , typename VertexXiType , typename VertexXjType >
void BaseBinaryEdge::mapHessianMemory ( double *  d,
int  i,
int  j,
bool  rowMajor 
)
virtual

maps the internal matrix to some external memory location, you need to provide the memory before calling constructQuadraticForm

Parameters
dthe memory location to which we map
iindex of the vertex i
jindex of the vertex j (j > i, upper triangular fashion)
rowMajorif true, will write in rowMajor order to the block. Since EIGEN is columnMajor by default, this results in writing the transposed

Implements g2o::OptimizableGraph::Edge.

Definition at line 209 of file base_binary_edge.h.

template<int D, typename E , typename VertexXiType , typename VertexXjType >
void BaseBinaryEdge::resize ( size_t  size)
virtual

resizes the number of vertices connected by this edge

Reimplemented from g2o::HyperGraph::Edge.

Definition at line 40 of file base_binary_edge.h.

Member Data Documentation

template<int D, typename E, typename VertexXi, typename VertexXj>
HessianBlockType g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::_hessian
protected

Definition at line 106 of file base_binary_edge.h.

template<int D, typename E, typename VertexXi, typename VertexXj>
bool g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::_hessianRowMajor
protected

Definition at line 105 of file base_binary_edge.h.

template<int D, typename E, typename VertexXi, typename VertexXj>
HessianBlockTransposedType g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::_hessianTransposed
protected

Definition at line 107 of file base_binary_edge.h.

template<int D, typename E, typename VertexXi, typename VertexXj>
JacobianXiOplusType g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::_jacobianOplusXi
protected

Definition at line 108 of file base_binary_edge.h.

template<int D, typename E, typename VertexXi, typename VertexXj>
JacobianXjOplusType g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::_jacobianOplusXj
protected

Definition at line 109 of file base_binary_edge.h.

template<int D, typename E, typename VertexXi, typename VertexXj>
const int g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::Di = VertexXiType::Dimension
static

Definition at line 49 of file base_binary_edge.h.

template<int D, typename E, typename VertexXi, typename VertexXj>
const int g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::Dimension = BaseEdge<D, E>::Dimension
static

Definition at line 52 of file base_binary_edge.h.

template<int D, typename E, typename VertexXi, typename VertexXj>
const int g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >::Dj = VertexXjType::Dimension
static

Definition at line 50 of file base_binary_edge.h.


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


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