#include <base_dynamic_vertex.h>

Inheritance diagram for g2o::BaseDynamicVertex< T >:

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Collaboration diagram for g2o::BaseDynamicVertex< T >:

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Public Member Functions
virtual bool	setDimension (int newDimension)

Public Member Functions inherited from g2o::BaseVertex<-1, T >
	BaseVertex ()

	BaseVertex (const BaseVertex &)=delete

BaseVertex &	operator= (const BaseVertex &)=delete

virtual const double &	hessian (int i, int j) const
	get the element from the hessian matrix

virtual double &	hessian (int i, int j)

virtual double	hessianDeterminant () const

virtual double *	hessianData ()

virtual void	mapHessianMemory (double *d)

virtual int	copyB (double *b_) const

virtual const double &	b (int i) const
	get the b vector element

virtual double &	b (int i)

Eigen::Matrix< double, D, 1, Eigen::ColMajor > &	b ()
	return right hand side b of the constructed linear system

const Eigen::Matrix< double, D, 1, Eigen::ColMajor > &	b () const

virtual double *	bData ()
	return a pointer to the b vector associated with this vertex

virtual void	clearQuadraticForm ()

virtual double	solveDirect (double lambda=0)

HessianBlockType &	A ()
	return the hessian block associated with the vertex

const HessianBlockType &	A () const

virtual void	push ()
	backup the position of the vertex to a stack

virtual void	pop ()

virtual void	discardTop ()

virtual int	stackSize () const
	return the stack size

const EstimateType &	estimate () const
	return the current estimate of the vertex

void	setEstimate (const EstimateType &et)
	set the estimate for the vertex also calls updateCache()

Public Member Functions inherited from g2o::OptimizableGraph::Vertex
	Vertex ()

virtual	~Vertex ()

void	setToOrigin ()
	sets the node to the origin (used in the multilevel stuff)

bool	setEstimateData (const double *estimate)

bool	setEstimateData (const std::vector< double > &estimate)

template<typename Derived >
bool	setEstimateData (const Eigen::MatrixBase< Derived > &estimate)

virtual bool	getEstimateData (double *estimate) const

virtual bool	getEstimateData (std::vector< double > &estimate) const

template<typename Derived >
bool	getEstimateData (Eigen::MatrixBase< Derived > &estimate) const

virtual int	estimateDimension () const

bool	setMinimalEstimateData (const double *estimate)

bool	setMinimalEstimateData (const std::vector< double > &estimate)

template<typename Derived >
bool	setMinimalEstimateData (const Eigen::MatrixBase< Derived > &estimate)

virtual bool	getMinimalEstimateData (double *estimate) const

virtual bool	getMinimalEstimateData (std::vector< double > &estimate) const

template<typename Derived >
bool	getMinimalEstimateData (Eigen::MatrixBase< Derived > &estimate) const

virtual int	minimalEstimateDimension () const

void	oplus (const double *v)

int	hessianIndex () const

int	G2O_ATTRIBUTE_DEPRECATED (tempIndex() const)

void	setHessianIndex (int ti)
	set the temporary index of the vertex in the parameter blocks

void	G2O_ATTRIBUTE_DEPRECATED (setTempIndex(int ti))

bool	fixed () const
	true => this node is fixed during the optimization

void	setFixed (bool fixed)
	true => this node should be considered fixed during the optimization

bool	marginalized () const
	true => this node is marginalized out during the optimization

void	setMarginalized (bool marginalized)
	true => this node should be marginalized out during the optimization

int	dimension () const
	dimension of the estimated state belonging to this node

virtual void	setId (int id)

void	setColInHessian (int c)
	set the row of this vertex in the Hessian

int	colInHessian () const
	get the row of this vertex in the Hessian

const OptimizableGraph *	graph () const

OptimizableGraph *	graph ()

void	lockQuadraticForm ()

void	unlockQuadraticForm ()

virtual bool	read (std::istream &is)=0
	read the vertex from a stream, i.e., the internal state of the vertex

virtual bool	write (std::ostream &os) const =0
	write the vertex to a stream

virtual void	updateCache ()

CacheContainer *	cacheContainer ()

Public Member Functions inherited from g2o::HyperGraph::Vertex
	Vertex (int id=InvalidId)
	creates a vertex having an ID specified by the argument

int	id () const
	returns the id

const EdgeSet &	edges () const
	returns the set of hyper-edges that are leaving/entering in this vertex

EdgeSet &	edges ()
	returns the set of hyper-edges that are leaving/entering in this vertex

virtual HyperGraphElementType	elementType () const

Public Member Functions inherited from g2o::HyperGraph::HyperGraphElement
virtual	~HyperGraphElement ()

Public Member Functions inherited from g2o::HyperGraph::DataContainer
	DataContainer ()

virtual	~DataContainer ()

const Data *	userData () const
	the user data associated with this vertex

Data *	userData ()

void	setUserData (Data *obs)

void	addUserData (Data *obs)

Protected Member Functions
virtual bool	setDimensionImpl (int newDimension)=0

Protected Member Functions inherited from g2o::OptimizableGraph::Vertex
virtual void	oplusImpl (const double *v)=0

virtual void	setToOriginImpl ()=0
	sets the node to the origin (used in the multilevel stuff)

virtual bool	setEstimateDataImpl (const double *)

virtual bool	setMinimalEstimateDataImpl (const double *)

Additional Inherited Members
Public Types inherited from g2o::BaseVertex<-1, T >
using	EstimateType = T

using	BackupStackType = std::stack< EstimateType, std::vector< EstimateType > >

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 >

Static Public Attributes inherited from g2o::BaseVertex<-1, T >
static const int	Dimension
	dimension of the estimate (minimal) in the manifold space

Protected Attributes inherited from g2o::BaseVertex<-1, T >
HessianBlockType	_hessian

Eigen::Matrix< double, D, 1, Eigen::ColMajor >	_b

EstimateType	_estimate

BackupStackType	_backup

Protected Attributes inherited from g2o::OptimizableGraph::Vertex
OptimizableGraph *	_graph

Data *	_userData

int	_hessianIndex

bool	_fixed

bool	_marginalized

int	_dimension

int	_colInHessian

OpenMPMutex	_quadraticFormMutex

CacheContainer *	_cacheContainer

Protected Attributes inherited from g2o::HyperGraph::Vertex
int	_id

EdgeSet	_edges

Protected Attributes inherited from g2o::HyperGraph::DataContainer
Data *	_userData

Detailed Description

template<typename T>
class g2o::BaseDynamicVertex< T >

Definition at line 36 of file base_dynamic_vertex.h.

Member Function Documentation

◆ setDimension()

template<typename T >

bool g2o::BaseDynamicVertex< T >::setDimension ( int newDimension )

inlinevirtual

Definition at line 54 of file base_dynamic_vertex.h.

                                                        {
  // Check the dimension is non-negative.
  assert(newDimension >= 0);
  if (newDimension < 0) return false;
 
  // Nothing to do if the dimension is unchanged.
  if (newDimension == _dimension) return true;
 
  // Change the state to the requested dimension
  if (setDimensionImpl(newDimension) == false) return false;
 
  // Store the old dimension and assign the new
  int oldDimension = _dimension;
  _dimension = newDimension;
 
  // Reset the allocation associated with this vertex and update the cache
  setHessianIndex(-1);
  mapHessianMemory(nullptr);
  _b.resize(_dimension);
  updateCache();
 
  // If the dimension is being increased and this vertex is in a
  // graph, update the size of the Jacobian workspace just in case it
  // needs to grow.
  if ((newDimension > oldDimension) && (_graph != nullptr)) {
    JacobianWorkspace& jacobianWorkspace = _graph->jacobianWorkspace();
    for (auto e : _edges) jacobianWorkspace.updateSize(e);
  }
 
  return true;
}

References g2o::JacobianWorkspace::updateSize().

Referenced by main().

◆ setDimensionImpl()

template<typename T >

virtual bool g2o::BaseDynamicVertex< T >::setDimensionImpl ( int newDimension )

protectedpure virtual

Implemented in PolynomialCoefficientVertex, and PPolynomialCoefficientVertex.

The documentation for this class was generated from the following file:

/build/reproducible-path/g2o-0~20230806/g2o/core/base_dynamic_vertex.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ setDimension()

◆ setDimensionImpl()