Class that contains the core optimization algorithm. More...

#include <treeoptimizer3.hh>

Inheritance diagram for AISNavigation::TreeOptimizer3:

Classes
struct	PM_t
Public Types
typedef std::vector< Pose >	PoseVector
Public Member Functions
double	angularError () const
double	error (double mre=0, double mte=0, double are=0, double ate=0, TreePoseGraph3::EdgeSet *eset=0) const
double	getRotGain () const
void	initializeOnlineIterations ()
void	initializeOnlineOptimization (EdgeCompareMode mode=EVComparator< Edge * >::CompareLevel)
void	initializeOptimization (EdgeCompareMode mode=EVComparator< Edge * >::CompareLevel)
void	initializeTreeParameters ()
void	iterate (TreePoseGraph3::EdgeSet *eset=0, bool noPreconditioner=false)
double	translationalError () const
	TreeOptimizer3 ()
virtual	~TreeOptimizer3 ()
Public Attributes
int	iteration
bool	restartOnDivergence
double	rpFraction
Protected Types
typedef std::vector< PM_t >	PMVector
Protected Member Functions
void	computePreconditioner ()
double	error (const Edge *e) const
Transformation	getPose (Vertex v, Vertex top)
Rotation	getRotation (Vertex v, Vertex top)
virtual bool	isDone ()
double	loopError (const Edge *e) const
double	loopRotationalError (const Edge *e) const
virtual void	onIterationFinished (int iteration)
virtual void	onIterationStart (int i)
virtual void	onRestartBegin ()
virtual void	onRestartDone ()
virtual void	onStepFinished (Edge *e)
virtual void	onStepStart (Edge *e)
void	propagateErrors (bool usePreconditioner=false)
void	recomputeParameters (Vertex v, Vertex top)
void	recomputeTransformations (Vertex v, Vertex top)
double	rotationalError (const Edge *e) const
double	translationalError (const Edge *e) const
double	traslationalError (const Edge *e) const
Protected Attributes
double	gamma [2]
PMVector	M
std::vector< double >	maxRotationalErrors
std::vector< double >	maxTranslationalErrors
int	mpl
double	rotGain
double	trasGain

Detailed Description

Class that contains the core optimization algorithm.

Definition at line 52 of file treeoptimizer3.hh.

Member Typedef Documentation

typedef std::vector< PM_t > AISNavigation::TreeOptimizer3::PMVector [protected]

Definition at line 135 of file treeoptimizer3.hh.

typedef std::vector<Pose> AISNavigation::TreeOptimizer3::PoseVector

Definition at line 53 of file treeoptimizer3.hh.

Constructor & Destructor Documentation

AISNavigation::TreeOptimizer3::TreeOptimizer3 ( )

Constructor

Definition at line 57 of file treeoptimizer3.cpp.

AISNavigation::TreeOptimizer3::~TreeOptimizer3 ( ) [virtual]

Destructor

Definition at line 65 of file treeoptimizer3.cpp.

Member Function Documentation

double AISNavigation::TreeOptimizer3::angularError ( ) const

Conmputes the gloabl error of the network

void AISNavigation::TreeOptimizer3::computePreconditioner ( ) [protected]

Definition at line 87 of file treeoptimizer3_iteration.cpp.

double AISNavigation::TreeOptimizer3::error	(	double *	mre = `0`,
		double *	mte = `0`,
		double *	are = `0`,
		double *	ate = `0`,
		TreePoseGraph3::EdgeSet *	eset = `0`
	)		const

Conmputes the gloabl error of the network

Definition at line 250 of file treeoptimizer3.cpp.

double AISNavigation::TreeOptimizer3::error ( const Edge * e ) const [protected]

Computes the error of the constraint/edge e

Definition at line 170 of file treeoptimizer3.cpp.

TreeOptimizer3::Transformation AISNavigation::TreeOptimizer3::getPose	(	Vertex *	v,
		Vertex *	top
	)		`[protected]`

Recomputes only the pose of the node v wrt. to an arbitraty parent (top) of v in the tree

Definition at line 146 of file treeoptimizer3.cpp.

TreeOptimizer3::Rotation AISNavigation::TreeOptimizer3::getRotation	(	Vertex *	v,
		Vertex *	top
	)		`[protected]`

Recomputes only the pose of the node v wrt. to an arbitraty parent (top) of v in the tree

Definition at line 157 of file treeoptimizer3.cpp.

double AISNavigation::TreeOptimizer3::getRotGain ( ) const [inline]

Definition at line 85 of file treeoptimizer3.hh.

void AISNavigation::TreeOptimizer3::initializeOnlineIterations ( )

Definition at line 314 of file treeoptimizer3.cpp.

void AISNavigation::TreeOptimizer3::initializeOnlineOptimization ( EdgeCompareMode mode = EVComparator<Edge*>::CompareLevel )

Definition at line 326 of file treeoptimizer3.cpp.

void AISNavigation::TreeOptimizer3::initializeOptimization ( EdgeCompareMode mode = EVComparator<Edge*>::CompareLevel )

Initialization function

Definition at line 293 of file treeoptimizer3.cpp.

void AISNavigation::TreeOptimizer3::initializeTreeParameters ( )

Initialization function

Definition at line 68 of file treeoptimizer3.cpp.

bool AISNavigation::TreeOptimizer3::isDone ( ) [protected, virtual]

callback for determining a termination condition, it can be used by an external thread for stopping the optimizer while performing an iteration.

Returns:: true when the optimizer has to stop.

Definition at line 356 of file treeoptimizer3.cpp.

void AISNavigation::TreeOptimizer3::iterate	(	TreePoseGraph3::EdgeSet *	eset = `0`,
		bool	noPreconditioner = `false`
	)

Performs one iteration of the algorithm

Definition at line 74 of file treeoptimizer3.cpp.

double AISNavigation::TreeOptimizer3::loopError ( const Edge * e ) const [protected]

Computes the error of the constraint/edge e

Definition at line 215 of file treeoptimizer3.cpp.

double AISNavigation::TreeOptimizer3::loopRotationalError ( const Edge * e ) const [protected]

Computes the rotational error of the constraint/edge e

Definition at line 232 of file treeoptimizer3.cpp.

void AISNavigation::TreeOptimizer3::onIterationFinished ( int iteration ) [protected, virtual]

callback invoked after finishing a full iteration,

Parameters:

i,:	the current iteration number

Definition at line 350 of file treeoptimizer3.cpp.

void AISNavigation::TreeOptimizer3::onIterationStart ( int i ) [protected, virtual]

callback invoked before starting a full iteration,

Parameters:

i,:	the current iteration number

Definition at line 346 of file treeoptimizer3.cpp.

void AISNavigation::TreeOptimizer3::onRestartBegin ( ) [protected, virtual]

callback invoked before a restart of the optimizer when the angular wraparound is detected

Definition at line 354 of file treeoptimizer3.cpp.

void AISNavigation::TreeOptimizer3::onRestartDone ( ) [protected, virtual]

callback invoked after a restart of the optimizer

Definition at line 355 of file treeoptimizer3.cpp.

void AISNavigation::TreeOptimizer3::onStepFinished ( Edge * e ) [protected, virtual]

callback invoked after finishing the optimization of an individual constraint,

Parameters:

e,:	the constraint optimized

Definition at line 342 of file treeoptimizer3.cpp.

void AISNavigation::TreeOptimizer3::onStepStart ( Edge * e ) [protected, virtual]

callback invoked before starting the optimization of an individual constraint,

Parameters:

e,:	the constraint being optimized

Definition at line 339 of file treeoptimizer3.cpp.

void AISNavigation::TreeOptimizer3::propagateErrors ( bool usePreconditioner = false ) [protected]

Definition at line 129 of file treeoptimizer3_iteration.cpp.

void AISNavigation::TreeOptimizer3::recomputeParameters	(	Vertex *	v,
		Vertex *	top
	)		`[protected]`

Definition at line 138 of file treeoptimizer3.cpp.

void AISNavigation::TreeOptimizer3::recomputeTransformations	(	Vertex *	v,
		Vertex *	top
	)		`[protected]`

Definition at line 130 of file treeoptimizer3.cpp.

double AISNavigation::TreeOptimizer3::rotationalError ( const Edge * e ) const [protected]

Conmputes the error of the constraint/edge e

Definition at line 201 of file treeoptimizer3.cpp.

double AISNavigation::TreeOptimizer3::translationalError ( ) const

Conmputes the gloabl error of the network

double AISNavigation::TreeOptimizer3::translationalError ( const Edge * e ) const [protected]

Conmputes the error of the constraint/edge e

double AISNavigation::TreeOptimizer3::traslationalError ( const Edge * e ) const [protected]

Definition at line 188 of file treeoptimizer3.cpp.

Member Data Documentation

double AISNavigation::TreeOptimizer3::gamma[2] [protected]

Used to compute the learning rate lambda

Definition at line 128 of file treeoptimizer3.hh.

int AISNavigation::TreeOptimizer3::iteration

Iteration counter

Definition at line 88 of file treeoptimizer3.hh.

PMVector AISNavigation::TreeOptimizer3::M [protected]

Definition at line 136 of file treeoptimizer3.hh.

std::vector<double> AISNavigation::TreeOptimizer3::maxRotationalErrors [protected]

history of rhe maximum rotational errors*, used when adaptiveRestart is enabled

Definition at line 142 of file treeoptimizer3.hh.

std::vector<double> AISNavigation::TreeOptimizer3::maxTranslationalErrors [protected]

history of rhe maximum rotational errors*, used when adaptiveRestart is enabled

Definition at line 145 of file treeoptimizer3.hh.

int AISNavigation::TreeOptimizer3::mpl [protected]

cached maximum path length

Definition at line 139 of file treeoptimizer3.hh.

bool AISNavigation::TreeOptimizer3::restartOnDivergence

Definition at line 83 of file treeoptimizer3.hh.

double AISNavigation::TreeOptimizer3::rotGain [protected]

Definition at line 146 of file treeoptimizer3.hh.

double AISNavigation::TreeOptimizer3::rpFraction

Definition at line 90 of file treeoptimizer3.hh.

double AISNavigation::TreeOptimizer3::trasGain [protected]

Definition at line 146 of file treeoptimizer3.hh.

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

Classes

Public Types

Public Member Functions

Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation