base_vertex.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
#ifndef G2O_BASE_VERTEX_H
#define G2O_BASE_VERTEX_H
 
#include <Eigen/Cholesky>
#include <Eigen/Core>
#include <Eigen/Dense>
#include <cassert>
#include <stack>
 
#include "creators.h"
#include "g2o/stuff/macros.h"
#include "optimizable_graph.h"
 
namespace g2o {
#define G2O_VERTEX_DIM ((D == Eigen::Dynamic) ? _dimension : D)
template <int D, typename T>
class BaseVertex : public OptimizableGraph::Vertex {
 public:
  using EstimateType = T;
  using BackupStackType = std::stack<EstimateType, std::vector<EstimateType> >;
 
  static const int Dimension =
      D;  
 
  using HessianBlockType =
      Eigen::Map<Eigen::Matrix<double, D, D, Eigen::ColMajor>,
                 Eigen::Matrix<double, D, D, Eigen::ColMajor>::Flags &
                         Eigen::PacketAccessBit
                     ? Eigen::Aligned
                     : Eigen::Unaligned>;
 
 public:
  BaseVertex();
  BaseVertex& operator=(const BaseVertex&) = delete;
  BaseVertex(const BaseVertex&) = delete;
 
  virtual const double& hessian(int i, int j) const {
    assert(i < G2O_VERTEX_DIM && j < G2O_VERTEX_DIM);
    return _hessian(i, j);
  }
  virtual double& hessian(int i, int j) {
    assert(i < G2O_VERTEX_DIM && j < G2O_VERTEX_DIM);
    return _hessian(i, j);
  }
  virtual double hessianDeterminant() const { return _hessian.determinant(); }
  virtual double* hessianData() { return const_cast<double*>(_hessian.data()); }
 
  inline virtual void mapHessianMemory(double* d);
 
  virtual int copyB(double* b_) const {
    const int vertexDim = G2O_VERTEX_DIM;
    memcpy(b_, _b.data(), vertexDim * sizeof(double));
    return vertexDim;
  }
 
  virtual const double& b(int i) const {
    assert(i < D);
    return _b(i);
  }
  virtual double& b(int i) {
    assert(i < G2O_VERTEX_DIM);
    return _b(i);
  }
  virtual double* bData() { return _b.data(); }
 
  inline virtual void clearQuadraticForm();
 
  inline virtual double solveDirect(double lambda = 0);
 
  Eigen::Matrix<double, D, 1, Eigen::ColMajor>& b() { return _b; }
  const Eigen::Matrix<double, D, 1, Eigen::ColMajor>& b() const { return _b; }
  HessianBlockType& A() { return _hessian; }
  const HessianBlockType& A() const { return _hessian; }
 
  virtual void push() { _backup.push(_estimate); }
  virtual void pop() {
    assert(!_backup.empty());
    _estimate = _backup.top();
    _backup.pop();
    updateCache();
  }
  virtual void discardTop() {
    assert(!_backup.empty());
    _backup.pop();
  }
  virtual int stackSize() const { return _backup.size(); }
 
  const EstimateType& estimate() const { return _estimate; }
  void setEstimate(const EstimateType& et) {
    _estimate = et;
    updateCache();
  }
 
 protected:
  HessianBlockType _hessian;
  Eigen::Matrix<double, D, 1, Eigen::ColMajor> _b;
  EstimateType _estimate;
  BackupStackType _backup;
 
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
#include "base_vertex.hpp"
 
#undef G2O_VERTEX_DIM
 
}  // end namespace g2o
 
#endif