A general case Vertex for optimization. More...

#include <optimizable_graph.h>

Inheritance diagram for g2o::OptimizableGraph::Vertex:

[legend]

Public Member Functions
void	addUserData (Data *obs)

virtual const double &	b (int i) const =0
	get the b vector element More...

virtual double &	b (int i)=0

virtual double *	bData ()=0
	return a pointer to the b vector associated with this vertex More...

CacheContainer *	cacheContainer ()

virtual void	clearQuadraticForm ()=0

virtual Vertex *	clone () const
	returns a deep copy of the current vertex More...

int	colInHessian () const
	get the row of this vertex in the Hessian More...

virtual int	copyB (double *b_) const =0

int	dimension () const
	dimension of the estimated state belonging to this node More...

virtual void	discardTop ()=0
	pop the last element from the stack, without restoring the current estimate More...

virtual int	estimateDimension () const

bool	fixed () const
	true => this node is fixed during the optimization More...

int	G2O_ATTRIBUTE_DEPRECATED (tempIndex() const)

void	G2O_ATTRIBUTE_DEPRECATED (setTempIndex(int ti))

virtual bool	getEstimateData (double *estimate) const

virtual bool	getEstimateData (std::vector< double > &estimate) const

virtual bool	getMinimalEstimateData (double *estimate) const

virtual bool	getMinimalEstimateData (std::vector< double > &estimate) const

const OptimizableGraph *	graph () const

OptimizableGraph *	graph ()

virtual const double &	hessian (int i, int j) const =0
	get the element from the hessian matrix More...

virtual double &	hessian (int i, int j)=0

virtual double *	hessianData ()=0

virtual double	hessianDeterminant () const =0

int	hessianIndex () const
	temporary index of this node in the parameter vector obtained from linearization More...

void	lockQuadraticForm ()

virtual void	mapHessianMemory (double *d)=0

bool	marginalized () const
	true => this node is marginalized out during the optimization More...

virtual int	minimalEstimateDimension () const

void	oplus (const double *v)

virtual void	pop ()=0
	restore the position of the vertex by retrieving the position from the stack More...

virtual void	push ()=0
	backup the position of the vertex to a stack More...

virtual bool	read (std::istream &is)=0
	read the vertex from a stream, i.e., the internal state of the vertex More...

void	setColInHessian (int c)
	set the row of this vertex in the Hessian More...

bool	setEstimateData (const double *estimate)

bool	setEstimateData (const std::vector< double > &estimate)

void	setFixed (bool fixed)
	true => this node should be considered fixed during the optimization More...

void	setHessianIndex (int ti)
	set the temporary index of the vertex in the parameter blocks More...

virtual void	setId (int id)
	sets the id of the node in the graph be sure that the graph keeps consistent after changing the id More...

void	setMarginalized (bool marginalized)
	true => this node should be marginalized out during the optimization More...

bool	setMinimalEstimateData (const double *estimate)

bool	setMinimalEstimateData (const std::vector< double > &estimate)

void	setToOrigin ()
	sets the node to the origin (used in the multilevel stuff) More...

void	setUserData (Data *obs)

virtual double	solveDirect (double lambda=0)=0

virtual int	stackSize () const =0
	return the stack size More...

void	unlockQuadraticForm ()

virtual void	updateCache ()

const Data *	userData () const
	the user data associated with this vertex More...

Data *	userData ()

	Vertex ()

virtual bool	write (std::ostream &os) const =0
	write the vertex to a stream More...

virtual	~Vertex ()

Public Member Functions inherited from g2o::HyperGraph::Vertex
const EdgeSet &	edges () const
	returns the set of hyper-edges that are leaving/entering in this vertex More...

EdgeSet &	edges ()
	returns the set of hyper-edges that are leaving/entering in this vertex More...

virtual HyperGraphElementType	elementType () const

int	id () const
	returns the id More...

	Vertex (int id=-1)
	creates a vertex having an ID specified by the argument More...

Public Member Functions inherited from g2o::HyperGraph::HyperGraphElement
virtual	~HyperGraphElement ()

Protected Member Functions
virtual void	oplusImpl (const double *v)=0

virtual bool	setEstimateDataImpl (const double *)

virtual bool	setMinimalEstimateDataImpl (const double *)

virtual void	setToOriginImpl ()=0
	sets the node to the origin (used in the multilevel stuff) More...

Protected Attributes
CacheContainer *	_cacheContainer

int	_colInHessian

int	_dimension

bool	_fixed

OptimizableGraph *	_graph

int	_hessianIndex

bool	_marginalized

OpenMPMutex	_quadraticFormMutex

Data *	_userData

Protected Attributes inherited from g2o::HyperGraph::Vertex
EdgeSet	_edges

int	_id

Friends
struct	OptimizableGraph

Detailed Description

A general case Vertex for optimization.

Definition at line 127 of file optimizable_graph.h.

Constructor & Destructor Documentation

g2o::OptimizableGraph::Vertex::Vertex ( )

Definition at line 63 of file optimizable_graph.cpp.

g2o::OptimizableGraph::Vertex::~Vertex ( )

virtual

Reimplemented from g2o::HyperGraph::Vertex.

Definition at line 84 of file optimizable_graph.cpp.

Member Function Documentation

void g2o::OptimizableGraph::Vertex::addUserData ( Data * obs )

inline

Definition at line 141 of file optimizable_graph.h.

virtual const double& g2o::OptimizableGraph::Vertex::b ( int i ) const

pure virtual

get the b vector element

Implemented in g2o::BaseVertex< D, T >, g2o::BaseVertex< 7, Sim3 >, g2o::BaseVertex< 3, Vector3d >, and g2o::BaseVertex< 6, SE3Quat >.

virtual double& g2o::OptimizableGraph::Vertex::b ( int i )

pure virtual

Implemented in g2o::BaseVertex< D, T >, g2o::BaseVertex< 7, Sim3 >, g2o::BaseVertex< 3, Vector3d >, and g2o::BaseVertex< 6, SE3Quat >.

virtual double* g2o::OptimizableGraph::Vertex::bData ( )

pure virtual

return a pointer to the b vector associated with this vertex

Implemented in g2o::BaseVertex< D, T >, g2o::BaseVertex< 7, Sim3 >, g2o::BaseVertex< 3, Vector3d >, and g2o::BaseVertex< 6, SE3Quat >.

CacheContainer * g2o::OptimizableGraph::Vertex::cacheContainer ( )

Definition at line 70 of file optimizable_graph.cpp.

virtual void g2o::OptimizableGraph::Vertex::clearQuadraticForm ( )

pure virtual

set the b vector part of this vertex to zero

Implemented in g2o::BaseVertex< D, T >, g2o::BaseVertex< 7, Sim3 >, g2o::BaseVertex< 3, Vector3d >, and g2o::BaseVertex< 6, SE3Quat >.

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

virtual

returns a deep copy of the current vertex

Definition at line 92 of file optimizable_graph.cpp.

int g2o::OptimizableGraph::Vertex::colInHessian ( ) const

inline

get the row of this vertex in the Hessian

Definition at line 323 of file optimizable_graph.h.

virtual int g2o::OptimizableGraph::Vertex::copyB ( double * b_ ) const

pure virtual

copies the b vector in the array b_

Returns: the number of elements copied

Implemented in g2o::BaseVertex< D, T >, g2o::BaseVertex< 7, Sim3 >, g2o::BaseVertex< 3, Vector3d >, and g2o::BaseVertex< 6, SE3Quat >.

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

inline

dimension of the estimated state belonging to this node

Definition at line 315 of file optimizable_graph.h.

virtual void g2o::OptimizableGraph::Vertex::discardTop ( )

pure virtual

pop the last element from the stack, without restoring the current estimate

Implemented in g2o::BaseVertex< D, T >, g2o::BaseVertex< 7, Sim3 >, g2o::BaseVertex< 3, Vector3d >, and g2o::BaseVertex< 6, SE3Quat >.

int g2o::OptimizableGraph::Vertex::estimateDimension ( ) const

virtual

returns the dimension of the extended representation used by get/setEstimate(double*) -1 if it is not supported

Definition at line 109 of file optimizable_graph.cpp.

bool g2o::OptimizableGraph::Vertex::fixed ( ) const

inline

true => this node is fixed during the optimization

Definition at line 305 of file optimizable_graph.h.

int g2o::OptimizableGraph::Vertex::G2O_ATTRIBUTE_DEPRECATED ( tempIndex() const )

inline

Definition at line 299 of file optimizable_graph.h.

void g2o::OptimizableGraph::Vertex::G2O_ATTRIBUTE_DEPRECATED ( setTempIndex(int ti) )

inline

Definition at line 302 of file optimizable_graph.h.

bool g2o::OptimizableGraph::Vertex::getEstimateData ( double * estimate ) const

virtual

writes the estimater to an array of double

Returns: true on success

Definition at line 104 of file optimizable_graph.cpp.

virtual bool g2o::OptimizableGraph::Vertex::getEstimateData ( std::vector< double > & estimate ) const

inlinevirtual

writes the estimater to an array of double

Returns: true on success

Definition at line 215 of file optimizable_graph.h.

bool g2o::OptimizableGraph::Vertex::getMinimalEstimateData ( double * estimate ) const

virtual

writes the estimate to an array of double

Returns: true on success

Definition at line 121 of file optimizable_graph.cpp.

virtual bool g2o::OptimizableGraph::Vertex::getMinimalEstimateData ( std::vector< double > & estimate ) const

inlinevirtual

writes the estimate to an array of double

Returns: true on success

Definition at line 259 of file optimizable_graph.h.

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

inline

Definition at line 325 of file optimizable_graph.h.

OptimizableGraph* g2o::OptimizableGraph::Vertex::graph ( )

inline

Definition at line 327 of file optimizable_graph.h.

virtual const double& g2o::OptimizableGraph::Vertex::hessian	(	int	i,
		int	j
	)		const

pure virtual

get the element from the hessian matrix

Implemented in g2o::BaseVertex< D, T >, g2o::BaseVertex< 7, Sim3 >, g2o::BaseVertex< 3, Vector3d >, and g2o::BaseVertex< 6, SE3Quat >.

virtual double& g2o::OptimizableGraph::Vertex::hessian	(	int	i,
		int	j
	)

pure virtual

Implemented in g2o::BaseVertex< D, T >, g2o::BaseVertex< 7, Sim3 >, g2o::BaseVertex< 3, Vector3d >, and g2o::BaseVertex< 6, SE3Quat >.

virtual double* g2o::OptimizableGraph::Vertex::hessianData ( )

pure virtual

Implemented in g2o::BaseVertex< D, T >, g2o::BaseVertex< 7, Sim3 >, g2o::BaseVertex< 3, Vector3d >, and g2o::BaseVertex< 6, SE3Quat >.

virtual double g2o::OptimizableGraph::Vertex::hessianDeterminant ( ) const

pure virtual

Implemented in g2o::BaseVertex< D, T >, g2o::BaseVertex< 7, Sim3 >, g2o::BaseVertex< 3, Vector3d >, and g2o::BaseVertex< 6, SE3Quat >.

int g2o::OptimizableGraph::Vertex::hessianIndex ( ) const

inline

temporary index of this node in the parameter vector obtained from linearization

Definition at line 298 of file optimizable_graph.h.

void g2o::OptimizableGraph::Vertex::lockQuadraticForm ( )

inline

lock for the block of the hessian and the b vector associated with this vertex, to avoid race-conditions if multi-threaded.

Definition at line 333 of file optimizable_graph.h.

virtual void g2o::OptimizableGraph::Vertex::mapHessianMemory ( double * d )

pure virtual

maps the internal matrix to some external memory location

Implemented in g2o::BaseVertex< D, T >, g2o::BaseVertex< 7, Sim3 >, g2o::BaseVertex< 3, Vector3d >, and g2o::BaseVertex< 6, SE3Quat >.

bool g2o::OptimizableGraph::Vertex::marginalized ( ) const

inline

true => this node is marginalized out during the optimization

Definition at line 310 of file optimizable_graph.h.

int g2o::OptimizableGraph::Vertex::minimalEstimateDimension ( ) const

virtual

returns the dimension of the extended representation used by get/setEstimate(double*) -1 if it is not supported

Definition at line 126 of file optimizable_graph.cpp.

void g2o::OptimizableGraph::Vertex::oplus ( const double * v )

inline

Update the position of the node from the parameters in v. Depends on the implementation of oplusImpl in derived classes to actually carry out the update. Will also call updateCache() to update the caches of depending on the vertex.

Definition at line 291 of file optimizable_graph.h.

virtual void g2o::OptimizableGraph::Vertex::oplusImpl ( const double * v )

protectedpure virtual

update the position of the node from the parameters in v. Implement in your class!

Implemented in g2o::VertexSE3Expmap, g2o::VertexSim3Expmap, and g2o::VertexSBAPointXYZ.

virtual void g2o::OptimizableGraph::Vertex::pop ( )

pure virtual

restore the position of the vertex by retrieving the position from the stack

Implemented in g2o::BaseVertex< D, T >, g2o::BaseVertex< 7, Sim3 >, g2o::BaseVertex< 3, Vector3d >, and g2o::BaseVertex< 6, SE3Quat >.

virtual void g2o::OptimizableGraph::Vertex::push ( )

pure virtual

backup the position of the vertex to a stack

Implemented in g2o::BaseVertex< D, T >, g2o::BaseVertex< 7, Sim3 >, g2o::BaseVertex< 3, Vector3d >, and g2o::BaseVertex< 6, SE3Quat >.

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

pure virtual

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

Implemented in g2o::VertexSE3Expmap, g2o::VertexSim3Expmap, and g2o::VertexSBAPointXYZ.

void g2o::OptimizableGraph::Vertex::setColInHessian ( int c )

inline

set the row of this vertex in the Hessian

Definition at line 321 of file optimizable_graph.h.

bool g2o::OptimizableGraph::Vertex::setEstimateData ( const double * estimate )

sets the initial estimate from an array of double Implement setEstimateDataImpl()

Returns: true on success

Definition at line 97 of file optimizable_graph.cpp.

bool g2o::OptimizableGraph::Vertex::setEstimateData ( const std::vector< double > & estimate )

inline

sets the initial estimate from an array of double Implement setEstimateDataImpl()

Returns: true on success

Definition at line 197 of file optimizable_graph.h.

virtual bool g2o::OptimizableGraph::Vertex::setEstimateDataImpl ( const double * )

inlineprotectedvirtual

writes the estimater to an array of double

Returns: true on success

Definition at line 372 of file optimizable_graph.h.

void g2o::OptimizableGraph::Vertex::setFixed ( bool fixed )

inline

true => this node should be considered fixed during the optimization

Definition at line 307 of file optimizable_graph.h.

void g2o::OptimizableGraph::Vertex::setHessianIndex ( int ti )

inline

set the temporary index of the vertex in the parameter blocks

Definition at line 301 of file optimizable_graph.h.

virtual void g2o::OptimizableGraph::Vertex::setId ( int id )

inlinevirtual

sets the id of the node in the graph be sure that the graph keeps consistent after changing the id

Reimplemented from g2o::HyperGraph::Vertex.

Definition at line 318 of file optimizable_graph.h.

void g2o::OptimizableGraph::Vertex::setMarginalized ( bool marginalized )

inline

true => this node should be marginalized out during the optimization

Definition at line 312 of file optimizable_graph.h.

bool g2o::OptimizableGraph::Vertex::setMinimalEstimateData ( const double * estimate )

sets the initial estimate from an array of double. Implement setMinimalEstimateDataImpl()

Returns: true on success

Definition at line 114 of file optimizable_graph.cpp.

bool g2o::OptimizableGraph::Vertex::setMinimalEstimateData ( const std::vector< double > & estimate )

inline

sets the initial estimate from an array of double. Implement setMinimalEstimateDataImpl()

Returns: true on success

Definition at line 241 of file optimizable_graph.h.

virtual bool g2o::OptimizableGraph::Vertex::setMinimalEstimateDataImpl ( const double * )

inlineprotectedvirtual

sets the initial estimate from an array of double

Returns: true on success

Definition at line 378 of file optimizable_graph.h.

void g2o::OptimizableGraph::Vertex::setToOrigin ( )

inline

sets the node to the origin (used in the multilevel stuff)

Definition at line 151 of file optimizable_graph.h.

virtual void g2o::OptimizableGraph::Vertex::setToOriginImpl ( )

protectedpure virtual

sets the node to the origin (used in the multilevel stuff)

Implemented in g2o::VertexSE3Expmap, g2o::VertexSim3Expmap, and g2o::VertexSBAPointXYZ.

void g2o::OptimizableGraph::Vertex::setUserData ( Data * obs )

inline

Definition at line 140 of file optimizable_graph.h.

virtual double g2o::OptimizableGraph::Vertex::solveDirect ( double lambda = 0 )

pure virtual

updates the current vertex with the direct solution x += H_ii

Returns: the determinant of the inverted hessian

Implemented in g2o::BaseVertex< D, T >, g2o::BaseVertex< 7, Sim3 >, g2o::BaseVertex< 3, Vector3d >, and g2o::BaseVertex< 6, SE3Quat >.

virtual int g2o::OptimizableGraph::Vertex::stackSize ( ) const

pure virtual

return the stack size

Implemented in g2o::BaseVertex< D, T >, g2o::BaseVertex< 7, Sim3 >, g2o::BaseVertex< 3, Vector3d >, and g2o::BaseVertex< 6, SE3Quat >.

void g2o::OptimizableGraph::Vertex::unlockQuadraticForm ( )

inline

unlock the block of the hessian and the b vector associated with this vertex

Definition at line 337 of file optimizable_graph.h.

void g2o::OptimizableGraph::Vertex::updateCache ( )

virtual

Definition at line 77 of file optimizable_graph.cpp.

const Data* g2o::OptimizableGraph::Vertex::userData ( ) const

inline

the user data associated with this vertex

Definition at line 137 of file optimizable_graph.h.

Data* g2o::OptimizableGraph::Vertex::userData ( )

inline

Definition at line 138 of file optimizable_graph.h.

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

pure virtual

write the vertex to a stream

Implemented in g2o::VertexSE3Expmap, g2o::VertexSim3Expmap, and g2o::VertexSBAPointXYZ.

Friends And Related Function Documentation

friend struct OptimizableGraph

friend

Definition at line 129 of file optimizable_graph.h.

Member Data Documentation

CacheContainer* g2o::OptimizableGraph::Vertex::_cacheContainer

protected

Definition at line 357 of file optimizable_graph.h.

int g2o::OptimizableGraph::Vertex::_colInHessian

protected

Definition at line 354 of file optimizable_graph.h.

int g2o::OptimizableGraph::Vertex::_dimension

protected

Definition at line 353 of file optimizable_graph.h.

bool g2o::OptimizableGraph::Vertex::_fixed

protected

Definition at line 351 of file optimizable_graph.h.

OptimizableGraph* g2o::OptimizableGraph::Vertex::_graph

protected

Definition at line 348 of file optimizable_graph.h.

int g2o::OptimizableGraph::Vertex::_hessianIndex

protected

Definition at line 350 of file optimizable_graph.h.

bool g2o::OptimizableGraph::Vertex::_marginalized

protected

Definition at line 352 of file optimizable_graph.h.

OpenMPMutex g2o::OptimizableGraph::Vertex::_quadraticFormMutex

protected

Definition at line 355 of file optimizable_graph.h.

Data* g2o::OptimizableGraph::Vertex::_userData

protected

Definition at line 349 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