#include <base_edge.h>

Inherits g2o::OptimizableGraph::Edge.

Collaboration diagram for g2o::BaseEdge< D, E >:

[legend]

Public Types
typedef E	Measurement

typedef internal::BaseEdgeTraits< D >::ErrorVector	ErrorVector

typedef internal::BaseEdgeTraits< D >::InformationType	InformationType

Public Member Functions
	BaseEdge ()

BaseEdge &	operator= (const BaseEdge &)=delete

	BaseEdge (const BaseEdge &)=delete

virtual	~BaseEdge ()

virtual double	chi2 () const

virtual const double *	errorData () const
	returns the error vector cached after calling the computeError;

virtual double *	errorData ()

const ErrorVector &	error () const

ErrorVector &	error ()

EIGEN_STRONG_INLINE const InformationType &	information () const
	information matrix of the constraint

EIGEN_STRONG_INLINE InformationType &	information ()

void	setInformation (const InformationType &information)

virtual const double *	informationData () const

virtual double *	informationData ()

EIGEN_STRONG_INLINE const Measurement &	measurement () const
	accessor functions for the measurement represented by the edge

virtual void	setMeasurement (const Measurement &m)

virtual int	rank () const

virtual void	initialEstimate (const OptimizableGraph::VertexSet &, OptimizableGraph::Vertex *)

template<int Dim = D>
std::enable_if< Dim==-1, void >::type	setDimension (int dim)

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

virtual	~Edge ()

virtual bool	allVerticesFixed () const =0

virtual void	computeError ()=0

virtual bool	setMeasurementData (const double *m)

virtual bool	getMeasurementData (double *m) const

virtual int	measurementDimension () const

virtual bool	setMeasurementFromState ()

RobustKernel *	robustKernel () const
	if NOT NULL, error of this edge will be robustifed with the kernel

void	setRobustKernel (RobustKernel *ptr)

virtual void	constructQuadraticForm ()=0

virtual void	mapHessianMemory (double *d, int i, int j, bool rowMajor)=0

virtual void	linearizeOplus (JacobianWorkspace &jacobianWorkspace)=0

virtual double	initialEstimatePossible (const OptimizableGraph::VertexSet &from, OptimizableGraph::Vertex *to)

int	level () const
	returns the level of the edge

void	setLevel (int l)
	sets the level of the edge

int	dimension () const
	returns the dimensions of the error function

	G2O_ATTRIBUTE_DEPRECATED (virtual Vertex *createFrom())

	G2O_ATTRIBUTE_DEPRECATED (virtual Vertex *createTo())

virtual Vertex *	createVertex (int)

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

long long	internalId () const
	the internal ID of the edge

OptimizableGraph *	graph ()

const OptimizableGraph *	graph () const

bool	setParameterId (int argNum, int paramId)

const Parameter *	parameter (int argNo) const

size_t	numParameters () const

void	resizeParameters (size_t newSize)

Public Member Functions inherited from g2o::HyperGraph::Edge
	Edge (int id=InvalidId)
	creates and empty edge with no vertices

virtual void	resize (size_t size)

const VertexContainer &	vertices () const

VertexContainer &	vertices ()

const Vertex *	vertex (size_t i) const

Vertex *	vertex (size_t i)

void	setVertex (size_t i, Vertex *v)

int	id () const

void	setId (int id)

virtual HyperGraphElementType	elementType () const

int	numUndefinedVertices () 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)

Static Public Attributes
static constexpr int	Dimension = internal::BaseEdgeTraits<D>::Dimension

Protected Member Functions
InformationType	robustInformation (const Vector3 &rho) const

bool	writeInformationMatrix (std::ostream &os) const
	write the upper trinagular part of the information matrix into the stream

bool	readInformationMatrix (std::istream &is)

bool	writeParamIds (std::ostream &os) const
	write the param IDs that are potentially used by the edge

bool	readParamIds (std::istream &is)
	reads the param IDs from the stream

Protected Member Functions inherited from g2o::OptimizableGraph::Edge
template<typename ParameterType >
bool	installParameter (ParameterType *&p, size_t argNo, int paramId=-1)

template<typename CacheType >
void	resolveCache (CacheType &cache, OptimizableGraph::Vertex , const std::string &_type, const ParameterVector &parameters)

bool	resolveParameters ()

virtual bool	resolveCaches ()

Protected Attributes
Measurement	_measurement
	the measurement of the edge

InformationType	_information

ErrorVector	_error

Protected Attributes inherited from g2o::OptimizableGraph::Edge
int	_dimension

int	_level

RobustKernel *	_robustKernel

long long	_internalId

std::vector< int >	_cacheIds

std::vector< std::string >	_parameterTypes

std::vector< Parameter ** >	_parameters

std::vector< int >	_parameterIds

Protected Attributes inherited from g2o::HyperGraph::Edge
VertexContainer	_vertices

int	_id
	unique id

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

Detailed Description

template<int D, typename E>
class g2o::BaseEdge< D, E >

Definition at line 86 of file base_edge.h.

Member Typedef Documentation

◆ ErrorVector

template<int D, typename E >

typedef internal::BaseEdgeTraits<D>::ErrorVector g2o::BaseEdge< D, E >::ErrorVector

Definition at line 90 of file base_edge.h.

◆ InformationType

template<int D, typename E >

typedef internal::BaseEdgeTraits<D>::InformationType g2o::BaseEdge< D, E >::InformationType

Definition at line 91 of file base_edge.h.

◆ Measurement

template<int D, typename E >

typedef E g2o::BaseEdge< D, E >::Measurement

Definition at line 89 of file base_edge.h.

Constructor & Destructor Documentation

◆ BaseEdge() [1/2]

template<int D, typename E >

g2o::BaseEdge< D, E >::BaseEdge ( )

inline

Definition at line 93 of file base_edge.h.

93: OptimizableGraph::Edge() { _dimension = D; }

g2o::OptimizableGraph::Edge::_dimension

int _dimension

Definition optimizable_graph.h:547

References g2o::OptimizableGraph::Edge::_dimension.

◆ BaseEdge() [2/2]

template<int D, typename E >

g2o::BaseEdge< D, E >::BaseEdge ( const BaseEdge< D, E > & )

delete

◆ ~BaseEdge()

template<int D, typename E >

virtual g2o::BaseEdge< D, E >::~BaseEdge ( )

inlinevirtual

Definition at line 97 of file base_edge.h.

97{}

Member Function Documentation

◆ chi2()

template<int D, typename E >

virtual double g2o::BaseEdge< D, E >::chi2 ( ) const

inlinevirtual

computes the chi2 based on the cached error value, only valid after computeError has been called.

Implements g2o::OptimizableGraph::Edge.

Reimplemented in g2o::OnlineEdgeSE2, and g2o::OnlineEdgeSE3.

Definition at line 99 of file base_edge.h.

99{ return _error.dot(information() * _error); }

g2o::BaseEdge::information

EIGEN_STRONG_INLINE const InformationType & information() const

information matrix of the constraint

Definition base_edge.h:107

g2o::BaseEdge::_error

ErrorVector _error

Definition base_edge.h:149

References g2o::BaseEdge< D, E >::_error, and g2o::BaseEdge< D, E >::information().

◆ error() [1/2]

template<int D, typename E >

ErrorVector & g2o::BaseEdge< D, E >::error ( )

inline

Definition at line 104 of file base_edge.h.

104{ return _error; }

References g2o::BaseEdge< D, E >::_error.

◆ error() [2/2]

template<int D, typename E >

const ErrorVector & g2o::BaseEdge< D, E >::error ( ) const

inline

Definition at line 103 of file base_edge.h.

103{ return _error; }

References g2o::BaseEdge< D, E >::_error.

Referenced by EdgePointOnCircle::operator()(), EdgeObservationBAL::operator()(), and EdgePointOnCurve::operator()().

◆ errorData() [1/2]

template<int D, typename E >

virtual double * g2o::BaseEdge< D, E >::errorData ( )

inlinevirtual

Implements g2o::OptimizableGraph::Edge.

Definition at line 102 of file base_edge.h.

102{ return _error.data(); }

References g2o::BaseEdge< D, E >::_error.

◆ errorData() [2/2]

template<int D, typename E >

virtual const double * g2o::BaseEdge< D, E >::errorData ( ) const

inlinevirtual

returns the error vector cached after calling the computeError;

Implements g2o::OptimizableGraph::Edge.

Definition at line 101 of file base_edge.h.

101{ return _error.data(); }

References g2o::BaseEdge< D, E >::_error.

◆ information() [1/2]

template<int D, typename E >

EIGEN_STRONG_INLINE InformationType & g2o::BaseEdge< D, E >::information ( )

inline

Definition at line 110 of file base_edge.h.

110{ return _information; }

g2o::BaseEdge::_information

InformationType _information

Definition base_edge.h:147

References g2o::BaseEdge< D, E >::_information.

◆ information() [2/2]

template<int D, typename E >

EIGEN_STRONG_INLINE const InformationType & g2o::BaseEdge< D, E >::information ( ) const

inline

information matrix of the constraint

Definition at line 107 of file base_edge.h.

                                                                 {
    return _information;
  }

References g2o::BaseEdge< D, E >::_information.

Referenced by g2o::addOdometryCalibLinksDifferential(), g2o::BaseEdge< D, E >::chi2(), g2o::EdgeProjectP2MC::EdgeProjectP2MC(), g2o::EdgeSE2Offset::EdgeSE2Offset(), g2o::EdgeSE2PointXYOffset::EdgeSE2PointXYOffset(), g2o::EdgeSE3::EdgeSE3(), g2o::EdgeSE3Line3D::EdgeSE3Line3D(), g2o::EdgeSE3Offset::EdgeSE3Offset(), g2o::EdgeSE3PointXYZ::EdgeSE3PointXYZ(), g2o::EdgeSE3PointXYZDepth::EdgeSE3PointXYZDepth(), g2o::EdgeSE3PointXYZDisparity::EdgeSE3PointXYZDisparity(), g2o::EdgeSE3Prior::EdgeSE3Prior(), g2o::EdgeSE3XYZPrior::EdgeSE3XYZPrior(), g2o::EdgeXYZPrior::EdgeXYZPrior(), main(), main(), main(), g2o::tutorial::EdgeSE2::read(), g2o::tutorial::EdgeSE2PointXY::read(), g2o::Edge_V_V_GICP::read(), g2o::EdgeSBAScale::read(), g2o::EdgeSE2LotsOfXY::read(), g2o::EdgeSE2Offset::read(), g2o::EdgeSE2PointXYBearing::read(), g2o::EdgeSE2PointXYOffset::read(), g2o::EdgeSE2TwoPointsXY::read(), g2o::EdgeLine2DPointXY::read(), g2o::EdgePointXYZ::read(), g2o::EdgeSE3LotsOfXYZ::read(), g2o::Gm2dlIO::readGm2dl(), g2o::BaseEdge< D, E >::readInformationMatrix(), g2o::BaseEdge< D, E >::setInformation(), g2o::SolverSLAM2DLinear::solveOrientation(), g2o::tutorial::EdgeSE2::write(), g2o::tutorial::EdgeSE2PointXY::write(), g2o::EdgeSBAScale::write(), g2o::EdgeSE2LotsOfXY::write(), g2o::EdgeSE2PointXYBearing::write(), g2o::EdgeSE2TwoPointsXY::write(), g2o::EdgeLine2DPointXY::write(), g2o::EdgePointXYZ::write(), g2o::EdgeSE3LotsOfXYZ::write(), g2o::EdgeSE3Euler::write(), g2o::Gm2dlIO::writeGm2dl(), and g2o::BaseEdge< D, E >::writeInformationMatrix().

◆ informationData() [1/2]

template<int D, typename E >

virtual double * g2o::BaseEdge< D, E >::informationData ( )

inlinevirtual

Implements g2o::OptimizableGraph::Edge.

Definition at line 116 of file base_edge.h.

116{ return _information.data(); }

References g2o::BaseEdge< D, E >::_information.

◆ informationData() [2/2]

template<int D, typename E >

virtual const double * g2o::BaseEdge< D, E >::informationData ( ) const

inlinevirtual

returns the memory of the information matrix, usable for example with a Eigen::Map<MatrixX>

Implements g2o::OptimizableGraph::Edge.

Definition at line 115 of file base_edge.h.

115{ return _information.data(); }

References g2o::BaseEdge< D, E >::_information.

◆ initialEstimate()

template<int D, typename E >

virtual void g2o::BaseEdge< D, E >::initialEstimate	(	const OptimizableGraph::VertexSet &	from,
		OptimizableGraph::Vertex *	to
	)

inlinevirtual

set the estimate of the to vertex, based on the estimate of the from vertices in the edge.

Implements g2o::OptimizableGraph::Edge.

Reimplemented in TargetOdometry3DEdge, g2o::EdgeSE2LotsOfXY, g2o::EdgeSE2TwoPointsXY, g2o::EdgeSE3LotsOfXYZ, g2o::EdgeSE3XYZPrior, g2o::OnlineEdgeSE2, g2o::OnlineEdgeSE3, g2o::EdgeSim3, g2o::EdgeSBACam, g2o::EdgeSE2SensorCalib, g2o::EdgeSE2, g2o::EdgeSE2Offset, g2o::EdgeSE2PointXY, g2o::EdgeSE2PointXYBearing, g2o::EdgeSE2PointXYCalib, g2o::EdgeSE2PointXYOffset, g2o::EdgeSE2Prior, g2o::EdgeSE2Line2D, g2o::EdgeSE2Segment2D, g2o::EdgeSE3, g2o::EdgeSE3Offset, g2o::EdgeSE3PointXYZ, g2o::EdgeSE3PointXYZDepth, g2o::EdgeSE3PointXYZDisparity, g2o::EdgeSE3Prior, and g2o::EdgeSBAScale.

Definition at line 126 of file base_edge.h.

                                                        {
    G2O_WARN(
        "inititialEstimate() is not implemented, please give implementation in "
        "your derived class");
  }

References G2O_WARN.

◆ measurement()

template<int D, typename E >

EIGEN_STRONG_INLINE const Measurement & g2o::BaseEdge< D, E >::measurement ( ) const

inline

accessor functions for the measurement represented by the edge

Definition at line 119 of file base_edge.h.

                                                             {
    return _measurement;
  }

References g2o::BaseEdge< D, E >::_measurement.

◆ operator=()

template<int D, typename E >

BaseEdge & g2o::BaseEdge< D, E >::operator= ( const BaseEdge< D, E > & )

delete

◆ rank()

template<int D, typename E >

virtual int g2o::BaseEdge< D, E >::rank ( ) const

inlinevirtual

Definition at line 124 of file base_edge.h.

124{ return _dimension; }

References g2o::OptimizableGraph::Edge::_dimension.

◆ readInformationMatrix()

template<int D, typename E >

bool g2o::BaseEdge< D, E >::readInformationMatrix ( std::istream & is )

inlineprotected

reads the upper triangular part of the matrix and recovers the missing symmetrical elements

Definition at line 173 of file base_edge.h.

                                             {
    for (int i = 0; i < information().rows() && is.good(); ++i)
      for (int j = i; j < information().cols() && is.good(); ++j) {
        is >> information()(i, j);
        if (i != j) information()(j, i) = information()(i, j);
      }
    return is.good() || is.eof();
  }

References g2o::BaseEdge< D, E >::information().

◆ readParamIds()

template<int D, typename E >

bool g2o::BaseEdge< D, E >::readParamIds ( std::istream & is )

inlineprotected

reads the param IDs from the stream

Definition at line 187 of file base_edge.h.

                                    {
    for (size_t i = 0; i < numParameters(); ++i) {
      int paramId;
      is >> paramId;
      setParameterId(i, paramId);
    }
    return is.good() || is.eof();
  }

References g2o::OptimizableGraph::Edge::numParameters(), and g2o::OptimizableGraph::Edge::setParameterId().

Referenced by g2o::EdgeProjectPSI2UV::read(), g2o::EdgeProjectXYZ2UV::read(), g2o::EdgeProjectXYZ2UVU::read(), g2o::EdgeSE3Offset::read(), g2o::EdgeSE3PointXYZ::read(), g2o::EdgeSE3PointXYZDepth::read(), g2o::EdgeSE3PointXYZDisparity::read(), g2o::EdgeSE3Prior::read(), g2o::EdgeSE3XYZPrior::read(), and g2o::EdgeSE3Line3D::read().

◆ robustInformation()

template<int D, typename E >

InformationType g2o::BaseEdge< D, E >::robustInformation ( const Vector3 & rho ) const

inlineprotected

calculate the robust information matrix by updating the information matrix of the error

Definition at line 156 of file base_edge.h.

                                                              {
    InformationType result = rho[1] * _information;
    // ErrorVector weightedError = _information * _error;
    // result.noalias() += 2 * rho[2] * (weightedError *
    // weightedError.transpose());
    return result;
  }

References g2o::BaseEdge< D, E >::_information.

◆ setDimension()

template<int D, typename E >

template<int Dim = D>

std::enable_if< Dim==-1, void >::type g2o::BaseEdge< D, E >::setDimension ( int dim )

inline

set the dimension for a dynamically sizeable error function. The member will not be declared for edges having a fixed size at compile time.

Definition at line 139 of file base_edge.h.

                                                                   {
    _dimension = dim;
    _information.resize(dim, dim);
    _error.resize(dim, 1);
  }

References g2o::OptimizableGraph::Edge::_dimension, g2o::BaseEdge< D, E >::_error, and g2o::BaseEdge< D, E >::_information.

Referenced by MultipleValueEdge::MultipleValueEdge().

◆ setInformation()

template<int D, typename E >

void g2o::BaseEdge< D, E >::setInformation ( const InformationType & information )

inline

Definition at line 111 of file base_edge.h.

                                                          {
    _information = information;
  }

References g2o::BaseEdge< D, E >::_information, and g2o::BaseEdge< D, E >::information().

Referenced by g2o::G2oSlamInterface::addEdge(), GPSObservationEdgePositionVelocity3D::GPSObservationEdgePositionVelocity3D(), main(), main(), Robot::move(), MultipleValueEdge::MultipleValueEdge(), PolynomialSingleValueEdge::PolynomialSingleValueEdge(), g2o::EdgeSE3Euler::read(), LineSensor::sense(), PlaneSensor::sense(), and TargetOdometry3DEdge::TargetOdometry3DEdge().

◆ setMeasurement()

template<int D, typename E >

virtual void g2o::BaseEdge< D, E >::setMeasurement ( const Measurement & m )

inlinevirtual

Definition at line 122 of file base_edge.h.

122{ _measurement = m; }

References g2o::BaseEdge< D, E >::_measurement.

Referenced by g2o::addOdometryCalibLinksDifferential(), g2o::EdgeSE3XYZPrior::EdgeSE3XYZPrior(), GPSObservationEdgePositionVelocity3D::GPSObservationEdgePositionVelocity3D(), main(), main(), main(), MultipleValueEdge::MultipleValueEdge(), PolynomialSingleValueEdge::PolynomialSingleValueEdge(), PolynomialSingleValueEdge::read(), MultipleValueEdge::read(), g2o::EdgeSE3Expmap::read(), g2o::EdgeSE2OdomDifferentialCalib::read(), g2o::EdgeSim3::read(), g2o::EdgeSE3Calib::read(), and ToEdgeSim3().

◆ writeInformationMatrix()

template<int D, typename E >

bool g2o::BaseEdge< D, E >::writeInformationMatrix ( std::ostream & os ) const

inlineprotected

write the upper trinagular part of the information matrix into the stream

Definition at line 165 of file base_edge.h.

                                                    {
    for (int i = 0; i < information().rows(); ++i)
      for (int j = i; j < information().cols(); ++j)
        os << information()(i, j) << " ";
    return os.good();
  }

References g2o::BaseEdge< D, E >::information().

◆ writeParamIds()

template<int D, typename E >

bool g2o::BaseEdge< D, E >::writeParamIds ( std::ostream & os ) const

inlineprotected

write the param IDs that are potentially used by the edge

Definition at line 182 of file base_edge.h.

                                           {
    for (auto id : _parameterIds) os << id << " ";
    return os.good();
  }

References g2o::OptimizableGraph::Edge::_parameterIds.

Referenced by g2o::EdgeProjectPSI2UV::write(), g2o::EdgeProjectXYZ2UV::write(), g2o::EdgeProjectXYZ2UVU::write(), g2o::EdgeSE3Offset::write(), g2o::EdgeSE3PointXYZ::write(), g2o::EdgeSE3PointXYZDepth::write(), g2o::EdgeSE3PointXYZDisparity::write(), g2o::EdgeSE3Prior::write(), g2o::EdgeSE3XYZPrior::write(), and g2o::EdgeSE3Line3D::write().

Member Data Documentation

◆ _error

template<int D, typename E >

ErrorVector g2o::BaseEdge< D, E >::_error

protected

error vector, stores the result after computeError() is called

Definition at line 149 of file base_edge.h.

◆ _information

template<int D, typename E >

InformationType g2o::BaseEdge< D, E >::_information

protected

information matrix of the edge. Information = inv(covariance)

Definition at line 147 of file base_edge.h.

Referenced by g2o::EdgeLine2D::EdgeLine2D(), g2o::EdgePlane::EdgePlane(), g2o::EdgePointXY::EdgePointXY(), g2o::EdgePointXYZ::EdgePointXYZ(), g2o::EdgeXYPrior::EdgeXYPrior(), g2o::BaseEdge< D, E >::information(), g2o::BaseEdge< D, E >::information(), g2o::BaseEdge< D, E >::informationData(), g2o::BaseEdge< D, E >::informationData(), g2o::EdgeSE3XYZPrior::initialEstimate(), g2o::EdgeSE3Prior::initialEstimate(), g2o::BaseEdge< D, E >::robustInformation(), g2o::BaseEdge< D, E >::setDimension(), and g2o::BaseEdge< D, E >::setInformation().

◆ _measurement

template<int D, typename E >

Measurement g2o::BaseEdge< D, E >::_measurement

protected

the measurement of the edge

Definition at line 146 of file base_edge.h.

◆ Dimension

template<int D, typename E >

constexpr int g2o::BaseEdge< D, E >::Dimension = internal::BaseEdgeTraits<D>::Dimension

staticconstexpr

Definition at line 88 of file base_edge.h.

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

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

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ErrorVector

◆ InformationType

◆ Measurement

Constructor & Destructor Documentation

◆ BaseEdge() [1/2]

◆ BaseEdge() [2/2]

◆ ~BaseEdge()

Member Function Documentation

◆ chi2()

◆ error() [1/2]

◆ error() [2/2]

◆ errorData() [1/2]

◆ errorData() [2/2]

◆ information() [1/2]

◆ information() [2/2]

◆ informationData() [1/2]

◆ informationData() [2/2]

◆ initialEstimate()

◆ measurement()

◆ operator=()

◆ rank()

◆ readInformationMatrix()

◆ readParamIds()

◆ robustInformation()

◆ setDimension()

◆ setInformation()

◆ setMeasurement()

◆ writeInformationMatrix()

◆ writeParamIds()

Member Data Documentation

◆ _error

◆ _information

◆ _measurement

◆ Dimension