#include <optimizable_graph.h>

Inheritance diagram for g2o::OptimizableGraph::Edge:

[legend]

Public Member Functions
virtual bool	allVerticesFixed () const =0

virtual double	chi2 () const =0
	computes the chi2 based on the cached error value, only valid after computeError has been called. More...

virtual Edge *	clone () const

virtual void	computeError ()=0

virtual void	constructQuadraticForm ()=0

virtual Vertex *	createFrom ()

virtual Vertex *	createTo ()

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

	Edge ()

virtual const double *	errorData () const =0
	returns the error vector cached after calling the computeError; More...

virtual double *	errorData ()=0

virtual bool	getMeasurementData (double *m) const

OptimizableGraph *	graph ()

const OptimizableGraph *	graph () const

virtual const double *	informationData () const =0
	returns the memory of the information matrix, usable for example with a Eigen::Map<MatrixXd> More...

virtual double *	informationData ()=0

virtual void	initialEstimate (const OptimizableGraph::VertexSet &from, OptimizableGraph::Vertex *to)=0

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 void	linearizeOplus (JacobianWorkspace &jacobianWorkspace)=0

virtual void	mapHessianMemory (double *d, int i, int j, bool rowMajor)=0

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

virtual void	resize (size_t size)

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 ()

Protected Member Functions
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< 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

Friends
struct	OptimizableGraph

Detailed Description

Definition at line 382 of file optimizable_graph.h.

Constructor & Destructor Documentation

g2o::OptimizableGraph::Edge::Edge ( )

Definition at line 132 of file optimizable_graph.cpp.

g2o::OptimizableGraph::Edge::~Edge ( )

virtual

Reimplemented from g2o::HyperGraph::Edge.

Definition at line 138 of file optimizable_graph.cpp.

Member Function Documentation

virtual bool g2o::OptimizableGraph::Edge::allVerticesFixed ( ) const

pure virtual

Implemented in g2o::BaseMultiEdge< D, E >, g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >, g2o::BaseBinaryEdge< 2, Vector2d, VertexSBAPointXYZ, VertexSim3Expmap >, g2o::BaseBinaryEdge< 7, Sim3, VertexSim3Expmap, VertexSim3Expmap >, g2o::BaseBinaryEdge< 2, Vector2d, VertexSBAPointXYZ, VertexSE3Expmap >, g2o::BaseBinaryEdge< 3, Vector3d, VertexSBAPointXYZ, VertexSE3Expmap >, g2o::BaseUnaryEdge< D, E, VertexXi >, g2o::BaseUnaryEdge< 2, Vector2d, VertexSE3Expmap >, and g2o::BaseUnaryEdge< 3, Vector3d, VertexSE3Expmap >.

virtual double g2o::OptimizableGraph::Edge::chi2 ( ) const

pure virtual

computes the chi2 based on the cached error value, only valid after computeError has been called.

Implemented in g2o::BaseEdge< D, E >, g2o::BaseEdge< D, Vector2d >, g2o::BaseEdge< D, Vector3d >, and g2o::BaseEdge< D, Sim3 >.

OptimizableGraph::Edge * g2o::OptimizableGraph::Edge::clone ( ) const

virtual

Definition at line 224 of file optimizable_graph.cpp.

virtual void g2o::OptimizableGraph::Edge::computeError ( )

pure virtual

Implemented in g2o::EdgeStereoSE3ProjectXYZOnlyPose, g2o::EdgeInverseSim3ProjectXYZ, g2o::EdgeSE3ProjectXYZOnlyPose, g2o::EdgeSim3ProjectXYZ, g2o::EdgeStereoSE3ProjectXYZ, g2o::EdgeSim3, and g2o::EdgeSE3ProjectXYZ.

virtual void g2o::OptimizableGraph::Edge::constructQuadraticForm ( )

pure 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.

Implemented in g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >, g2o::BaseBinaryEdge< 2, Vector2d, VertexSBAPointXYZ, VertexSim3Expmap >, g2o::BaseBinaryEdge< 7, Sim3, VertexSim3Expmap, VertexSim3Expmap >, g2o::BaseBinaryEdge< 2, Vector2d, VertexSBAPointXYZ, VertexSE3Expmap >, g2o::BaseBinaryEdge< 3, Vector3d, VertexSBAPointXYZ, VertexSE3Expmap >, g2o::BaseMultiEdge< D, E >, g2o::BaseUnaryEdge< D, E, VertexXi >, g2o::BaseUnaryEdge< 2, Vector2d, VertexSE3Expmap >, and g2o::BaseUnaryEdge< 3, Vector3d, VertexSE3Expmap >.

virtual Vertex* g2o::OptimizableGraph::Edge::createFrom ( )

inlinevirtual

Reimplemented in g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >, g2o::BaseBinaryEdge< 2, Vector2d, VertexSBAPointXYZ, VertexSim3Expmap >, g2o::BaseBinaryEdge< 7, Sim3, VertexSim3Expmap, VertexSim3Expmap >, g2o::BaseBinaryEdge< 2, Vector2d, VertexSBAPointXYZ, VertexSE3Expmap >, and g2o::BaseBinaryEdge< 3, Vector3d, VertexSBAPointXYZ, VertexSE3Expmap >.

Definition at line 474 of file optimizable_graph.h.

virtual Vertex* g2o::OptimizableGraph::Edge::createTo ( )

inlinevirtual

Reimplemented in g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >, g2o::BaseBinaryEdge< 2, Vector2d, VertexSBAPointXYZ, VertexSim3Expmap >, g2o::BaseBinaryEdge< 7, Sim3, VertexSim3Expmap, VertexSim3Expmap >, g2o::BaseBinaryEdge< 2, Vector2d, VertexSBAPointXYZ, VertexSE3Expmap >, and g2o::BaseBinaryEdge< 3, Vector3d, VertexSBAPointXYZ, VertexSE3Expmap >.

Definition at line 475 of file optimizable_graph.h.

int g2o::OptimizableGraph::Edge::dimension ( ) const

inline

returns the dimensions of the error function

Definition at line 472 of file optimizable_graph.h.

virtual const double* g2o::OptimizableGraph::Edge::errorData ( ) const

pure virtual

returns the error vector cached after calling the computeError;

Implemented in g2o::BaseEdge< D, E >, g2o::BaseEdge< D, Vector2d >, g2o::BaseEdge< D, Vector3d >, and g2o::BaseEdge< D, Sim3 >.

virtual double* g2o::OptimizableGraph::Edge::errorData ( )

pure virtual

Implemented in g2o::BaseEdge< D, E >, g2o::BaseEdge< D, Vector2d >, g2o::BaseEdge< D, Vector3d >, and g2o::BaseEdge< D, Sim3 >.

bool g2o::OptimizableGraph::Edge::getMeasurementData ( double * m ) const

virtual

writes the measurement to an array of double

Returns: true on success

Definition at line 209 of file optimizable_graph.cpp.

OptimizableGraph * g2o::OptimizableGraph::Edge::graph ( )

Definition at line 143 of file optimizable_graph.cpp.

const OptimizableGraph * g2o::OptimizableGraph::Edge::graph ( ) const

Definition at line 152 of file optimizable_graph.cpp.

virtual const double* g2o::OptimizableGraph::Edge::informationData ( ) const

pure virtual

returns the memory of the information matrix, usable for example with a Eigen::Map<MatrixXd>

Implemented in g2o::BaseEdge< D, E >, g2o::BaseEdge< D, Vector2d >, g2o::BaseEdge< D, Vector3d >, and g2o::BaseEdge< D, Sim3 >.

virtual double* g2o::OptimizableGraph::Edge::informationData ( )

pure virtual

Implemented in g2o::BaseEdge< D, E >, g2o::BaseEdge< D, Vector2d >, g2o::BaseEdge< D, Vector3d >, and g2o::BaseEdge< D, Sim3 >.

virtual void g2o::OptimizableGraph::Edge::initialEstimate	(	const OptimizableGraph::VertexSet &	from,
		OptimizableGraph::Vertex *	to
	)

pure virtual

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

Implemented in g2o::EdgeSim3, g2o::BaseEdge< D, E >, g2o::BaseEdge< D, Vector2d >, g2o::BaseEdge< D, Vector3d >, g2o::BaseEdge< D, Sim3 >, g2o::BaseUnaryEdge< D, E, VertexXi >, g2o::BaseUnaryEdge< 2, Vector2d, VertexSE3Expmap >, and g2o::BaseUnaryEdge< 3, Vector3d, VertexSE3Expmap >.

virtual double g2o::OptimizableGraph::Edge::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 in g2o::EdgeSim3.

Definition at line 464 of file optimizable_graph.h.

template<typename ParameterType >

bool g2o::OptimizableGraph::Edge::installParameter	(	ParameterType *&	p,
		size_t	argNo,
		int	paramId = `-1`
	)

inlineprotected

Definition at line 505 of file optimizable_graph.h.

long long g2o::OptimizableGraph::Edge::internalId ( ) const

inline

the internal ID of the edge

Definition at line 483 of file optimizable_graph.h.

int g2o::OptimizableGraph::Edge::level ( ) const

inline

returns the level of the edge

Definition at line 467 of file optimizable_graph.h.

virtual void g2o::OptimizableGraph::Edge::linearizeOplus ( JacobianWorkspace & jacobianWorkspace )

pure virtual

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

Implemented in g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >, g2o::BaseBinaryEdge< 2, Vector2d, VertexSBAPointXYZ, VertexSim3Expmap >, g2o::BaseBinaryEdge< 7, Sim3, VertexSim3Expmap, VertexSim3Expmap >, g2o::BaseBinaryEdge< 2, Vector2d, VertexSBAPointXYZ, VertexSE3Expmap >, g2o::BaseBinaryEdge< 3, Vector3d, VertexSBAPointXYZ, VertexSE3Expmap >, g2o::BaseMultiEdge< D, E >, g2o::BaseUnaryEdge< D, E, VertexXi >, g2o::BaseUnaryEdge< 2, Vector2d, VertexSE3Expmap >, and g2o::BaseUnaryEdge< 3, Vector3d, VertexSE3Expmap >.

virtual void g2o::OptimizableGraph::Edge::mapHessianMemory	(	double *	d,
		int	i,
		int	j,
		bool	rowMajor
	)

pure 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

Implemented in g2o::BaseBinaryEdge< D, E, VertexXi, VertexXj >, g2o::BaseBinaryEdge< 2, Vector2d, VertexSBAPointXYZ, VertexSim3Expmap >, g2o::BaseBinaryEdge< 7, Sim3, VertexSim3Expmap, VertexSim3Expmap >, g2o::BaseBinaryEdge< 2, Vector2d, VertexSBAPointXYZ, VertexSE3Expmap >, g2o::BaseBinaryEdge< 3, Vector3d, VertexSBAPointXYZ, VertexSE3Expmap >, g2o::BaseMultiEdge< D, E >, g2o::BaseUnaryEdge< D, E, VertexXi >, g2o::BaseUnaryEdge< 2, Vector2d, VertexSE3Expmap >, and g2o::BaseUnaryEdge< 3, Vector3d, VertexSE3Expmap >.

int g2o::OptimizableGraph::Edge::measurementDimension ( ) const

virtual

returns the dimension of the measurement in the extended representation which is used by get/setMeasurement;

Definition at line 214 of file optimizable_graph.cpp.

size_t g2o::OptimizableGraph::Edge::numParameters ( ) const

inline

Definition at line 490 of file optimizable_graph.h.

const Parameter* g2o::OptimizableGraph::Edge::parameter ( int argNo ) const

inline

Definition at line 489 of file optimizable_graph.h.

virtual bool g2o::OptimizableGraph::Edge::read ( std::istream & is )

pure virtual

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

Implemented in g2o::EdgeStereoSE3ProjectXYZOnlyPose, g2o::EdgeInverseSim3ProjectXYZ, g2o::EdgeSE3ProjectXYZOnlyPose, g2o::EdgeSim3ProjectXYZ, g2o::EdgeStereoSE3ProjectXYZ, g2o::EdgeSim3, and g2o::EdgeSE3ProjectXYZ.

void g2o::OptimizableGraph::Edge::resizeParameters ( size_t newSize )

inline

Definition at line 491 of file optimizable_graph.h.

template<typename CacheType >

void g2o::OptimizableGraph::Edge::resolveCache	(	CacheType *&	cache,
		OptimizableGraph::Vertex *	v,
		const std::string &	_type,
		const ParameterVector &	parameters
	)

protected

Definition at line 121 of file cache.h.

bool g2o::OptimizableGraph::Edge::resolveCaches ( )

protectedvirtual

Definition at line 200 of file optimizable_graph.cpp.

bool g2o::OptimizableGraph::Edge::resolveParameters ( )

protected

Definition at line 171 of file optimizable_graph.cpp.

RobustKernel* g2o::OptimizableGraph::Edge::robustKernel ( ) const

inline

if NOT NULL, error of this edge will be robustifed with the kernel

Definition at line 415 of file optimizable_graph.h.

void g2o::OptimizableGraph::Edge::setLevel ( int l )

inline

sets the level of the edge

Definition at line 469 of file optimizable_graph.h.

bool g2o::OptimizableGraph::Edge::setMeasurementData ( const double * m )

virtual

sets the measurement from an array of double

Returns: true on success

Definition at line 204 of file optimizable_graph.cpp.

bool g2o::OptimizableGraph::Edge::setMeasurementFromState ( )

virtual

sets the estimate to have a zero error, based on the current value of the state variables returns false if not supported.

Definition at line 219 of file optimizable_graph.cpp.

bool g2o::OptimizableGraph::Edge::setParameterId	(	int	argNum,
		int	paramId
	)

Definition at line 161 of file optimizable_graph.cpp.

void g2o::OptimizableGraph::Edge::setRobustKernel ( RobustKernel * ptr )

specify the robust kernel to be used in this edge

Definition at line 193 of file optimizable_graph.cpp.

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

pure virtual

write the vertex to a stream

Implemented in g2o::EdgeStereoSE3ProjectXYZOnlyPose, g2o::EdgeInverseSim3ProjectXYZ, g2o::EdgeSE3ProjectXYZOnlyPose, g2o::EdgeSim3ProjectXYZ, g2o::EdgeStereoSE3ProjectXYZ, g2o::EdgeSim3, and g2o::EdgeSE3ProjectXYZ.

Friends And Related Function Documentation

friend struct OptimizableGraph

friend

Definition at line 384 of file optimizable_graph.h.

Member Data Documentation

std::vector<int> g2o::OptimizableGraph::Edge::_cacheIds

protected

Definition at line 502 of file optimizable_graph.h.

int g2o::OptimizableGraph::Edge::_dimension

protected

Definition at line 497 of file optimizable_graph.h.

long long g2o::OptimizableGraph::Edge::_internalId

protected

Definition at line 500 of file optimizable_graph.h.

int g2o::OptimizableGraph::Edge::_level

protected

Definition at line 498 of file optimizable_graph.h.

std::vector<int> g2o::OptimizableGraph::Edge::_parameterIds

protected

Definition at line 524 of file optimizable_graph.h.

std::vector<Parameter**> g2o::OptimizableGraph::Edge::_parameters

protected

Definition at line 523 of file optimizable_graph.h.

std::vector<std::string> g2o::OptimizableGraph::Edge::_parameterTypes

protected

Definition at line 522 of file optimizable_graph.h.

RobustKernel* g2o::OptimizableGraph::Edge::_robustKernel

protected

Definition at line 499 of file optimizable_graph.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation