#include <base_unary_edge.h>

Inheritance diagram for g2o::BaseUnaryEdge< D, E, VertexXi >:

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Collaboration diagram for g2o::BaseUnaryEdge< D, E, VertexXi >:

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Public Types
using	VertexXiType = VertexXi

Public Types inherited from g2o::BaseFixedSizedEdge< D, E, VertexXi >
using	NthType = typename std::tuple_element< N, std::tuple< Types... > >::type

using	VertexXnType = NthType< VertexN, VertexTypes... >
	The type of the N-th vertex.

typedef BaseEdge< D, E >::Measurement	Measurement

typedef BaseEdge< D, E >::ErrorVector	ErrorVector

typedef BaseEdge< D, E >::InformationType	InformationType

using	JacobianType = typename Eigen::Matrix< double, EdgeDimension, VertexDimension, EdgeDimension==1 ? Eigen::RowMajor :Eigen::ColMajor >::AlignedMapType

using	HessianBlockType = Eigen::Map< Eigen::Matrix< double, DN, DM, DN==1 ? Eigen::RowMajor :Eigen::ColMajor >, Eigen::Matrix< double, DN, DM, DN==1 ? Eigen::RowMajor :Eigen::ColMajor >::Flags &Eigen::PacketAccessBit ? Eigen::Aligned :Eigen::Unaligned >
	it requires quite some ugly code to get the type of hessians...

using	HessianBlockTypeK = HessianBlockType< VertexXnType< internal::index_to_pair(K).first >::Dimension, VertexXnType< internal::index_to_pair(K).second >::Dimension >

using	HessianBlockTypeKTransposed = HessianBlockType< VertexXnType< internal::index_to_pair(K).second >::Dimension, VertexXnType< internal::index_to_pair(K).first >::Dimension >

using	HessianTuple = typename HessianTupleType< std::make_index_sequence< _nr_of_vertex_pairs > >::type

using	HessianTupleTransposed = typename HessianTupleType< std::make_index_sequence< _nr_of_vertex_pairs > >::typeTransposed

using	HessianRowMajorStorage = std::array< bool, _nr_of_vertex_pairs >

Public Types inherited from g2o::BaseEdge< D, E >
typedef E	Measurement

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

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

Public Member Functions
	BaseUnaryEdge ()

Public Member Functions inherited from g2o::BaseFixedSizedEdge< D, E, VertexXi >
constexpr std::enable_if< VertexXnType< VertexN >::Dimension!=-1, int >::type	vertexDimension () const

std::enable_if< VertexXnType< VertexN >::Dimension==-1, int >::type	vertexDimension () const

const VertexXnType< VertexN > *	vertexXn () const

VertexXnType< VertexN > *	vertexXn ()

	BaseFixedSizedEdge ()

OptimizableGraph::Vertex *	createVertex (int i, CtorArgs... args)
	create an instance of the Nth VertexType

virtual void	resize (size_t size)

bool	allVerticesFixedNs (std::index_sequence< Ints... >) const

bool	allVerticesFixedNs (std::index_sequence< Ints... >) const

virtual bool	allVerticesFixed () const

virtual void	linearizeOplus (JacobianWorkspace &jacobianWorkspace)

virtual void	linearizeOplus ()

void	linearizeOplus_allocate (JacobianWorkspace &jacobianWorkspace, std::index_sequence< Ints... >)

void	linearizeOplus_allocate (JacobianWorkspace &jacobianWorkspace, std::index_sequence< Ints... >)

void	linearizeOplusNs (std::index_sequence< Ints... >)

void	linearizeOplusNs (std::index_sequence< Ints... >)

void	linearizeOplusN ()

void	linearizeOplusN ()

const std::tuple_element< N, std::tuple< JacobianType< D, VertexTypes::Dimension >... > >::type &	jacobianOplusXn () const

std::tuple_element< N, std::tuple< JacobianType< D, VertexTypes::Dimension >... > >::type &	jacobianOplusXn ()

virtual void	constructQuadraticForm ()

void	constructQuadraticFormNs (const InformationType &omega, const ErrorVector &weightedError, std::index_sequence< Ints... >)

void	constructQuadraticFormNs (const InformationType &omega, const ErrorVector &weightedError, std::index_sequence< Ints... >)

void	constructQuadraticFormN (const InformationType &omega, const ErrorVector &weightedError)

void	constructQuadraticFormN (const InformationType &omega, const ErrorVector &weightedError)

void	constructOffDiagonalQuadraticFormMs (const AtOType &, std::index_sequence<>)

void	constructOffDiagonalQuadraticFormMs (const AtOType &AtO, std::index_sequence< Ints... >)

void	constructOffDiagonalQuadraticFormMs (const AtOType &, std::index_sequence<>)

void	constructOffDiagonalQuadraticFormMs (const AtOType &AtO, std::index_sequence< Ints... >)

void	constructOffDiagonalQuadraticFormM (const AtOType &AtO)

void	constructOffDiagonalQuadraticFormM (const AtOType &AtO)

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

Public Member Functions inherited from g2o::BaseEdge< D, E >
	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 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 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

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)

Protected Attributes
BaseFixedSizedEdge< D, E, VertexXi >::template JacobianType< D, VertexXi::Dimension > &	_jacobianOplusXi

Protected Attributes inherited from g2o::BaseFixedSizedEdge< D, E, VertexXi >
HessianRowMajorStorage	_hessianRowMajor

HessianTuple	_hessianTuple

HessianTupleTransposed	_hessianTupleTransposed

std::tuple< JacobianType< D, VertexTypes::Dimension >... >	_jacobianOplus

Protected Attributes inherited from g2o::BaseEdge< D, E >
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

Additional Inherited Members
Static Public Member Functions inherited from g2o::BaseFixedSizedEdge< D, E, VertexXi >
static constexpr int	VertexDimension ()
	Size of the N-th vertex at compile time.

Static Public Attributes inherited from g2o::BaseFixedSizedEdge< D, E, VertexXi >
static const int	Dimension

static const std::size_t	_nr_of_vertices

static const std::size_t	_nr_of_vertex_pairs

Static Public Attributes inherited from g2o::BaseEdge< D, E >
static constexpr int	Dimension = internal::BaseEdgeTraits<D>::Dimension

Protected Member Functions inherited from g2o::BaseEdge< D, E >
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 ()

Detailed Description

template<int D, typename E, typename VertexXi>
class g2o::BaseUnaryEdge< D, E, VertexXi >

Definition at line 37 of file base_unary_edge.h.

Member Typedef Documentation

◆ VertexXiType

template<int D, typename E , typename VertexXi >

using g2o::BaseUnaryEdge< D, E, VertexXi >::VertexXiType = VertexXi

Definition at line 39 of file base_unary_edge.h.

Constructor & Destructor Documentation

◆ BaseUnaryEdge()

template<int D, typename E , typename VertexXi >

g2o::BaseUnaryEdge< D, E, VertexXi >::BaseUnaryEdge ( )

inline

Definition at line 40 of file base_unary_edge.h.

40: BaseFixedSizedEdge<D, E, VertexXi>(){};

Member Data Documentation

◆ _jacobianOplusXi

template<int D, typename E , typename VertexXi >

BaseFixedSizedEdge<D,E,VertexXi>::template JacobianType< D, VertexXi::Dimension>& g2o::BaseUnaryEdge< D, E, VertexXi >::_jacobianOplusXi

protected

Initial value:

=

std::get<0>(this->_jacobianOplus)

g2o::BaseFixedSizedEdge< D, E, VertexXi >::_jacobianOplus

std::tuple< JacobianType< D, VertexTypes::Dimension >... > _jacobianOplus

Definition base_fixed_sized_edge.h:304

Definition at line 44 of file base_unary_edge.h.

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

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

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ VertexXiType

Constructor & Destructor Documentation

◆ BaseUnaryEdge()

Member Data Documentation

◆ _jacobianOplusXi