jacobian_workspace.h
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1 // g2o - General Graph Optimization
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26 
27 #ifndef JACOBIAN_WORKSPACE_H
28 #define JACOBIAN_WORKSPACE_H
29 
30 #include <Eigen/Core>
31 #include <Eigen/StdVector>
32 
33 #include <vector>
34 #include <cassert>
35 
36 #include "hyper_graph.h"
37 
38 namespace g2o {
39 
40  struct OptimizableGraph;
41 
51  {
52  public:
53  typedef std::vector<Eigen::VectorXd, Eigen::aligned_allocator<Eigen::VectorXd> > WorkspaceVector;
54 
55  public:
58 
62  bool allocate();
63 
67  void updateSize(const HyperGraph::Edge* e);
68 
72  void updateSize(const OptimizableGraph& graph);
73 
77  void updateSize(int numVertices, int dimension);
78 
82  double* workspaceForVertex(int vertexIndex)
83  {
84  assert(vertexIndex >= 0 && (size_t)vertexIndex < _workspace.size() && "Index out of bounds");
85  return _workspace[vertexIndex].data();
86  }
87 
88  protected:
89  WorkspaceVector _workspace;
92  };
93 
94 } // end namespace
95 
96 #endif
int _maxDimension
the maximum dimension (number of elements) for a Jacobian
double * workspaceForVertex(int vertexIndex)
void updateSize(const HyperGraph::Edge *e)
WorkspaceVector _workspace
the memory pre-allocated for computing the Jacobians
std::vector< Eigen::VectorXd, Eigen::aligned_allocator< Eigen::VectorXd > > WorkspaceVector
int _maxNumVertices
the maximum number of vertices connected by a hyper-edge
provide memory workspace for computing the Jacobians


orb_slam2_with_maps_odom
Author(s): teng zhang
autogenerated on Fri Sep 25 2020 03:24:47