Public Member Functions | List of all members
g2o::EdgeSim3 Class Reference

7D edge between two Vertex7 More...

#include <types_seven_dof_expmap.h>

Inheritance diagram for g2o::EdgeSim3:
Inheritance graph
[legend]

Public Member Functions

void computeError ()
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW EdgeSim3 ()
 
virtual void initialEstimate (const OptimizableGraph::VertexSet &from, OptimizableGraph::Vertex *)
 
virtual double initialEstimatePossible (const OptimizableGraph::VertexSet &, OptimizableGraph::Vertex *)
 
virtual bool read (std::istream &is)
 read the vertex from a stream, i.e., the internal state of the vertex More...
 
virtual bool write (std::ostream &os) const
 write the vertex to a stream More...
 
- Public Member Functions inherited from g2o::BaseBinaryEdge< 7, Sim3, VertexSim3Expmap, VertexSim3Expmap >
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, Sim3 >
 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 ()
 
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
 
int dimension () const
 returns the dimensions of the error function More...
 
 Edge ()
 
virtual bool getMeasurementData (double *m) const
 
OptimizableGraphgraph ()
 
const OptimizableGraphgraph () const
 
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
 
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 ~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 ()
 

Additional Inherited Members

- Public Types inherited from g2o::BaseBinaryEdge< 7, Sim3, VertexSim3Expmap, VertexSim3Expmap >
typedef BaseEdge< D, Sim3 >::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, Sim3 >::InformationType InformationType
 
typedef Matrix< double, D, Di >::AlignedMapType JacobianXiOplusType
 
typedef Matrix< double, D, Dj >::AlignedMapType JacobianXjOplusType
 
typedef BaseEdge< D, Sim3 >::Measurement Measurement
 
typedef VertexSim3Expmap VertexXiType
 
typedef VertexSim3Expmap VertexXjType
 
- Public Types inherited from g2o::BaseEdge< D, Sim3 >
typedef Matrix< double, D, 1 > ErrorVector
 
typedef Matrix< double, D, D > InformationType
 
typedef Sim3 Measurement
 
- Static Public Attributes inherited from g2o::BaseBinaryEdge< 7, Sim3, VertexSim3Expmap, VertexSim3Expmap >
static const int Di
 
static const int Dimension
 
static const int Dj
 
- Static Public Attributes inherited from g2o::BaseEdge< D, Sim3 >
static const int Dimension
 
- Protected Member Functions inherited from g2o::BaseEdge< D, Sim3 >
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 inherited from g2o::BaseBinaryEdge< 7, Sim3, VertexSim3Expmap, VertexSim3Expmap >
HessianBlockType _hessian
 
bool _hessianRowMajor
 
HessianBlockTransposedType _hessianTransposed
 
JacobianXiOplusType _jacobianOplusXi
 
JacobianXjOplusType _jacobianOplusXj
 
- Protected Attributes inherited from g2o::BaseEdge< D, Sim3 >
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

7D edge between two Vertex7

Definition at line 99 of file types_seven_dof_expmap.h.

Constructor & Destructor Documentation

g2o::EdgeSim3::EdgeSim3 ( )

Definition at line 38 of file types_seven_dof_expmap.cpp.

Member Function Documentation

void g2o::EdgeSim3::computeError ( )
inlinevirtual

Implements g2o::OptimizableGraph::Edge.

Definition at line 106 of file types_seven_dof_expmap.h.

virtual void g2o::EdgeSim3::initialEstimate ( const OptimizableGraph::VertexSet ,
OptimizableGraph::Vertex  
)
inlinevirtual

set the estimate of the to vertex, based on the estimate of the from vertices in the edge.

Reimplemented from g2o::BaseEdge< D, Sim3 >.

Definition at line 117 of file types_seven_dof_expmap.h.

virtual double g2o::EdgeSim3::initialEstimatePossible ( const OptimizableGraph::VertexSet from,
OptimizableGraph::Vertex to 
)
inlinevirtual

override in your class if it's possible to initialize the vertices in certain combinations. The return value may correspond to the cost for initiliaizng the vertex but should be positive if the initialization is possible and negative if not possible.

Reimplemented from g2o::OptimizableGraph::Edge.

Definition at line 116 of file types_seven_dof_expmap.h.

bool g2o::EdgeSim3::read ( std::istream &  is)
virtual

read the vertex from a stream, i.e., the internal state of the vertex

Implements g2o::OptimizableGraph::Edge.

Definition at line 88 of file types_seven_dof_expmap.cpp.

bool g2o::EdgeSim3::write ( std::ostream &  os) const
virtual

write the vertex to a stream

Implements g2o::OptimizableGraph::Edge.

Definition at line 108 of file types_seven_dof_expmap.cpp.


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