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g2o::BaseMultiEdge< D, E > Class Template Reference

base class to represent an edge connecting an arbitrary number of nodes More...

#include <base_multi_edge.h>

Inheritance diagram for g2o::BaseMultiEdge< D, E >:
Inheritance graph
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Classes

struct  HessianHelper
 helper for mapping the Hessian memory of the upper triangular block More...
 

Public Types

typedef BaseEdge< D, E >::ErrorVector ErrorVector
 
typedef Eigen::Map< MatrixXd, MatrixXd::Flags &AlignedBit?Aligned:Unaligned > HessianBlockType
 
typedef BaseEdge< D, E >::InformationType InformationType
 
typedef MatrixXd::MapType JacobianType
 
typedef BaseEdge< D, E >::Measurement Measurement
 
- 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
 
 BaseMultiEdge ()
 
virtual void constructQuadraticForm ()
 
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
 
virtual VertexcreateFrom ()
 
virtual VertexcreateTo ()
 
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 Dimension = BaseEdge<D,E>::Dimension
 
- Static Public Attributes inherited from g2o::BaseEdge< D, E >
static const int Dimension = D
 

Protected Member Functions

void computeQuadraticForm (const InformationType &omega, const ErrorVector &weightedError)
 
- 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 ()
 

Protected Attributes

std::vector< HessianHelper_hessian
 
std::vector< JacobianType, aligned_allocator< JacobianType > > _jacobianOplus
 jacobians of the edge (w.r.t. oplus) More...
 
- 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
 

Detailed Description

template<int D, typename E>
class g2o::BaseMultiEdge< D, E >

base class to represent an edge connecting an arbitrary number of nodes

D - Dimension of the measurement E - type to represent the measurement

Definition at line 51 of file base_multi_edge.h.

Member Typedef Documentation

template<int D, typename E >
typedef BaseEdge<D,E>::ErrorVector g2o::BaseMultiEdge< D, E >::ErrorVector

Definition at line 67 of file base_multi_edge.h.

template<int D, typename E >
typedef Eigen::Map<MatrixXd, MatrixXd::Flags & AlignedBit ? Aligned : Unaligned > g2o::BaseMultiEdge< D, E >::HessianBlockType

Definition at line 69 of file base_multi_edge.h.

template<int D, typename E >
typedef BaseEdge<D,E>::InformationType g2o::BaseMultiEdge< D, E >::InformationType

Definition at line 68 of file base_multi_edge.h.

template<int D, typename E >
typedef MatrixXd::MapType g2o::BaseMultiEdge< D, E >::JacobianType

Definition at line 66 of file base_multi_edge.h.

template<int D, typename E >
typedef BaseEdge<D,E>::Measurement g2o::BaseMultiEdge< D, E >::Measurement

Definition at line 65 of file base_multi_edge.h.

Constructor & Destructor Documentation

template<int D, typename E >
g2o::BaseMultiEdge< D, E >::BaseMultiEdge ( )
inline

Definition at line 71 of file base_multi_edge.h.

Member Function Documentation

template<int D, typename E >
bool BaseMultiEdge::allVerticesFixed ( ) const
virtual

Implements g2o::OptimizableGraph::Edge.

Definition at line 161 of file base_multi_edge.h.

template<int D, typename E >
void BaseMultiEdge::computeQuadraticForm ( const InformationType omega,
const ErrorVector weightedError 
)
protected

Definition at line 172 of file base_multi_edge.h.

template<int D, typename E >
void BaseMultiEdge::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 37 of file base_multi_edge.h.

template<int D, typename E >
void BaseMultiEdge::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 53 of file base_multi_edge.h.

template<int D, typename E >
void BaseMultiEdge::linearizeOplus ( )
virtual

Linearizes the oplus operator in the vertex, and stores the result in temporary variable vector _jacobianOplus

Definition at line 64 of file base_multi_edge.h.

template<int D, typename E >
void BaseMultiEdge::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 130 of file base_multi_edge.h.

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

resizes the number of vertices connected by this edge

Reimplemented from g2o::HyperGraph::Edge.

Definition at line 150 of file base_multi_edge.h.

Member Data Documentation

template<int D, typename E >
std::vector<HessianHelper> g2o::BaseMultiEdge< D, E >::_hessian
protected

Definition at line 100 of file base_multi_edge.h.

template<int D, typename E >
std::vector<JacobianType, aligned_allocator<JacobianType> > g2o::BaseMultiEdge< D, E >::_jacobianOplus
protected

jacobians of the edge (w.r.t. oplus)

Definition at line 101 of file base_multi_edge.h.

template<int D, typename E >
const int g2o::BaseMultiEdge< D, E >::Dimension = BaseEdge<D,E>::Dimension
static

Definition at line 64 of file base_multi_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