base_variable_sized_edge.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, H. Strasdat, W. Burgard
// All rights reserved.
//
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//
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#ifndef G2O_BASE_VARIABLE_SIZED_EDGE_H
#define G2O_BASE_VARIABLE_SIZED_EDGE_H
 
#include <iomanip>
#include <iostream>
#include <limits>
 
#include "base_edge.h"
#include "g2o/autodiff/fixed_array.h"
#include "g2o/config.h"
#include "g2o/stuff/misc.h"
#include "robust_kernel.h"
 
namespace g2o {
 
template <int D, typename E>
class BaseVariableSizedEdge : public BaseEdge<D, E> {
 public:
  struct HessianHelper {
    Eigen::Map<MatrixX> matrix;  
    bool transposed;             
    HessianHelper() : matrix(0, 0, 0), transposed(false) {}
  };
 
 public:
  static constexpr int Dimension = BaseEdge<D, E>::Dimension;
  typedef typename BaseEdge<D, E>::Measurement Measurement;
  typedef MatrixX::MapType JacobianType;
  typedef typename BaseEdge<D, E>::ErrorVector ErrorVector;
  typedef typename BaseEdge<D, E>::InformationType InformationType;
  typedef Eigen::Map<MatrixX, MatrixX::Flags & Eigen::PacketAccessBit
                                  ? Eigen::Aligned
                                  : Eigen::Unaligned>
      HessianBlockType;
 
  BaseVariableSizedEdge() : BaseEdge<D, E>() {}
 
  virtual void linearizeOplus(JacobianWorkspace& jacobianWorkspace);
 
  virtual void linearizeOplus();
 
  virtual void resize(size_t size);
 
  virtual bool allVerticesFixed() const;
 
  virtual void constructQuadraticForm();
 
  virtual void mapHessianMemory(double* d, int i, int j, bool rowMajor);
 
  using BaseEdge<D, E>::computeError;
 
 protected:
  using BaseEdge<D, E>::_measurement;
  using BaseEdge<D, E>::_information;
  using BaseEdge<D, E>::_error;
  using BaseEdge<D, E>::_vertices;
  using BaseEdge<D, E>::_dimension;
 
  std::vector<HessianHelper> _hessian;
  std::vector<JacobianType>
      _jacobianOplus;  
 
  void computeQuadraticForm(const InformationType& omega,
                            const ErrorVector& weightedError);
 
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
#include "base_variable_sized_edge.hpp"
 
}  // end namespace g2o
 
#endif