#include <base_binary_edge.h>

Inheritance diagram for g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >:

[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::Vertex *	createFrom ()

virtual OptimizableGraph::Vertex *	createTo ()

const JacobianXiOplusType &	jacobianOplusXi () const
	returns the result of the linearization in the manifold space for the node xi More...

const JacobianXjOplusType &	jacobianOplusXj () 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 ErrorVector &	error () const

ErrorVector &	error ()

virtual const double *	errorData () const
	returns the error vector cached after calling the computeError; More...

virtual double *	errorData ()

const InformationType &	information () const
	information matrix of the constraint More...

InformationType &	information ()

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 Measurement &	measurement () 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 Edge *	clone () const

virtual void	computeError ()=0

int	dimension () const
	returns the dimensions of the error function More...

	Edge ()

virtual bool	getMeasurementData (double *m) const

OptimizableGraph *	graph ()

const OptimizableGraph *	graph () 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 Parameter *	parameter (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)

RobustKernel *	robustKernel () 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 Vertex *	vertex (size_t i) const

Vertex *	vertex (size_t i)

const VertexContainer &	vertices () const

VertexContainer &	vertices ()

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

d	the memory location to which we map
i	index of the vertex i
j	index of the vertex j (j > i, upper triangular fashion)
rowMajor	if 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:

Public Types

Public Member Functions

Static Public Attributes

Protected Attributes

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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