auto_differentiation.h File Reference

#include <algorithm>
#include <cassert>
#include <type_traits>
#include "eigen_types.h"
#include "g2o/autodiff/autodiff.h"
#include "g2o/stuff/misc.h"
#include "g2o_core_api.h"

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Classes
struct	g2o::EstimateAccessor< Edge >
class	g2o::EstimateAccessorGet< Edge >
struct	g2o::EstimateAccessorGet< Edge >::BufferType< std::index_sequence< Ints... > >
class	g2o::AutoDifferentiation< Edge, EstimateAccess >
	Implementation of Automatic Differentiation for edges in g2o. More...

Namespaces
namespace	g2o

Macros
#define	G2O_MAKE_AUTO_AD_COMPUTEERROR
#define	G2O_MAKE_AUTO_AD_LINEARIZEOPLUS
#define	G2O_MAKE_AUTO_AD_FUNCTIONS
#define	G2O_MAKE_AUTO_AD_COMPUTEERROR_BY_GET
#define	G2O_MAKE_AUTO_AD_LINEARIZEOPLUS_BY_GET
#define	G2O_MAKE_AUTO_AD_FUNCTIONS_BY_GET

Macro Definition Documentation

G2O_MAKE_AUTO_AD_COMPUTEERROR

#define G2O_MAKE_AUTO_AD_COMPUTEERROR

Value:

  void computeError() override {                                           \
    g2o::AutoDifferentiation<                                              \
        std::remove_reference<decltype(*this)>::type>::computeError(this); \
  }

Definition at line 263 of file auto_differentiation.h.

                               {                                           \
    g2o::AutoDifferentiation<                                              \
        std::remove_reference<decltype(*this)>::type>::computeError(this); \
  }

G2O_MAKE_AUTO_AD_COMPUTEERROR_BY_GET

#define G2O_MAKE_AUTO_AD_COMPUTEERROR_BY_GET

Value:

  void computeError() override {                                           \
    using EdgeType = std::remove_reference<decltype(*this)>::type;         \
    g2o::AutoDifferentiation<                                              \
        EdgeType, g2o::EstimateAccessorGet<EdgeType>>::computeError(this); \
  }

Definition at line 283 of file auto_differentiation.h.

                               {                                           \
    using EdgeType = std::remove_reference<decltype(*this)>::type;         \
    g2o::AutoDifferentiation<                                              \
        EdgeType, g2o::EstimateAccessorGet<EdgeType>>::computeError(this); \
  }

G2O_MAKE_AUTO_AD_FUNCTIONS

#define G2O_MAKE_AUTO_AD_FUNCTIONS

Value:

  G2O_MAKE_AUTO_AD_COMPUTEERROR    \
  G2O_MAKE_AUTO_AD_LINEARIZEOPLUS

Helper macro for easy integration into own types

Definition at line 277 of file auto_differentiation.h.

G2O_MAKE_AUTO_AD_FUNCTIONS_BY_GET

#define G2O_MAKE_AUTO_AD_FUNCTIONS_BY_GET

Value:

  G2O_MAKE_AUTO_AD_COMPUTEERROR_BY_GET    \
  G2O_MAKE_AUTO_AD_LINEARIZEOPLUS_BY_GET

Helper macro for easy integration into own types

Definition at line 300 of file auto_differentiation.h.

G2O_MAKE_AUTO_AD_LINEARIZEOPLUS

#define G2O_MAKE_AUTO_AD_LINEARIZEOPLUS

Value:

  void linearizeOplus() override {                                      \
    g2o::AutoDifferentiation<                                           \
        std::remove_reference<decltype(*this)>::type>::linearize(this); \
  }

Definition at line 268 of file auto_differentiation.h.

                                 {                                      \
    g2o::AutoDifferentiation<                                           \
        std::remove_reference<decltype(*this)>::type>::linearize(this); \
  }

G2O_MAKE_AUTO_AD_LINEARIZEOPLUS_BY_GET

#define G2O_MAKE_AUTO_AD_LINEARIZEOPLUS_BY_GET

Value:

  void linearizeOplus() override {                                      \
    using EdgeType = std::remove_reference<decltype(*this)>::type;      \
    g2o::AutoDifferentiation<                                           \
        EdgeType, g2o::EstimateAccessorGet<EdgeType>>::linearize(this); \
  }

Definition at line 290 of file auto_differentiation.h.

                                 {                                      \
    using EdgeType = std::remove_reference<decltype(*this)>::type;      \
    g2o::AutoDifferentiation<                                           \
        EdgeType, g2o::EstimateAccessorGet<EdgeType>>::linearize(this); \
  }