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 >:

[legend]

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 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

virtual Vertex *	createFrom ()

virtual Vertex *	createTo ()

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	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

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 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:

Classes

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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