g2o::BaseVertex< D, T > Class Template Reference

Templatized BaseVertex. More...

#include <base_vertex.h>

Inheritance diagram for g2o::BaseVertex< D, T >:

Collaboration diagram for g2o::BaseVertex< D, T >:

Public Types
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 >

Public Member Functions
	BaseVertex ()
BaseVertex &	operator= (const BaseVertex &)=delete
	BaseVertex (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)
virtual double *	bData ()
	return a pointer to the b vector associated with this vertex
virtual void	clearQuadraticForm ()
virtual double	solveDirect (double lambda=0)
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
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)

Static Public Attributes
static const int	Dimension
	dimension of the estimate (minimal) in the manifold space

Protected Attributes
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

Additional Inherited Members
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 *)

Detailed Description

template<int D, typename T>
class g2o::BaseVertex< D, T >

Templatized BaseVertex.

Templatized BaseVertex D : minimal dimension of the vertex, e.g., 3 for rotation in 3D. -1 means dynamically assigned at runtime. T : internal type to represent the estimate, e.g., Quaternion for rotation in 3D

Definition at line 51 of file base_vertex.h.

Member Typedef Documentation

BackupStackType

template<int D, typename T >

using g2o::BaseVertex< D, T >::BackupStackType = std::stack<EstimateType, std::vector<EstimateType> >

Definition at line 54 of file base_vertex.h.

EstimateType

template<int D, typename T >

using g2o::BaseVertex< D, T >::EstimateType = T

Definition at line 53 of file base_vertex.h.

HessianBlockType

template<int D, typename T >

using g2o::BaseVertex< D, T >::HessianBlockType = Eigen::Map<Eigen::Matrix<double, D, D, Eigen::ColMajor>, Eigen::Matrix<double, D, D, Eigen::ColMajor>::Flags & Eigen::PacketAccessBit ? Eigen::Aligned : Eigen::Unaligned>

Definition at line 59 of file base_vertex.h.

Constructor & Destructor Documentation

BaseVertex() [1/2]

template<int D, typename T >

BaseVertex::BaseVertex

(

)

Definition at line 28 of file base_vertex.hpp.

    : OptimizableGraph::Vertex(), _hessian(nullptr, D, D) {
  _dimension = D;
}

References g2o::OptimizableGraph::Vertex::_dimension.

BaseVertex() [2/2]

template<int D, typename T >

g2o::BaseVertex< D, T >::BaseVertex ( const BaseVertex< D, T > &  )

delete

Member Function Documentation

A() [1/2]

template<int D, typename T >

HessianBlockType & g2o::BaseVertex< D, T >::A ( )

inline

return the hessian block associated with the vertex

Definition at line 110 of file base_vertex.h.

{ return _hessian; }

References g2o::BaseVertex< D, T >::_hessian.

A() [2/2]

template<int D, typename T >

const HessianBlockType & g2o::BaseVertex< D, T >::A ( ) const

inline

Definition at line 111 of file base_vertex.h.

{ return _hessian; }

References g2o::BaseVertex< D, T >::_hessian.

b() [1/4]

template<int D, typename T >

Eigen::Matrix< double, D, 1, Eigen::ColMajor > & g2o::BaseVertex< D, T >::b ( )

inline

return right hand side b of the constructed linear system

Definition at line 107 of file base_vertex.h.

{ return _b; }

References g2o::BaseVertex< D, T >::_b.

b() [2/4]

template<int D, typename T >

const Eigen::Matrix< double, D, 1, Eigen::ColMajor > & g2o::BaseVertex< D, T >::b ( ) const

inline

Definition at line 108 of file base_vertex.h.

{ return _b; }

References g2o::BaseVertex< D, T >::_b.

b() [3/4]

template<int D, typename T >

virtual double & g2o::BaseVertex< D, T >::b ( int  i )

inlinevirtual

Implements g2o::OptimizableGraph::Vertex.

Definition at line 94 of file base_vertex.h.

                           {
    assert(i < G2O_VERTEX_DIM);
    return _b(i);
  }

References g2o::BaseVertex< D, T >::_b, and G2O_VERTEX_DIM.

b() [4/4]

template<int D, typename T >

virtual const double & g2o::BaseVertex< D, T >::b ( int  i ) const

inlinevirtual

get the b vector element

Implements g2o::OptimizableGraph::Vertex.

Definition at line 90 of file base_vertex.h.

                                       {
    assert(i < D);
    return _b(i);
  }

References g2o::BaseVertex< D, T >::_b.

bData()

template<int D, typename T >

virtual double * g2o::BaseVertex< D, T >::bData ( )

inlinevirtual

return a pointer to the b vector associated with this vertex

Implements g2o::OptimizableGraph::Vertex.

Definition at line 98 of file base_vertex.h.

{ return _b.data(); }

References g2o::BaseVertex< D, T >::_b.

clearQuadraticForm()

template<int D, typename T >

void BaseVertex::clearQuadraticForm ( )

inlinevirtual

set the b vector part of this vertex to zero

Implements g2o::OptimizableGraph::Vertex.

Definition at line 48 of file base_vertex.hpp.

                                          {
  _b.setZero();
}

copyB()

template<int D, typename T >

virtual int g2o::BaseVertex< D, T >::copyB ( double *  b_ ) const

inlinevirtual

copies the b vector in the array b_

Returns

the number of elements copied

Implements g2o::OptimizableGraph::Vertex.

Definition at line 84 of file base_vertex.h.

                                      {
    const int vertexDim = G2O_VERTEX_DIM;
    memcpy(b_, _b.data(), vertexDim * sizeof(double));
    return vertexDim;
  }

References g2o::BaseVertex< D, T >::_b, and G2O_VERTEX_DIM.

discardTop()

template<int D, typename T >

virtual void g2o::BaseVertex< D, T >::discardTop ( )

inlinevirtual

pop the last element from the stack, without restoring the current estimate

Implements g2o::OptimizableGraph::Vertex.

Definition at line 120 of file base_vertex.h.

                            {
    assert(!_backup.empty());
    _backup.pop();
  }

References g2o::BaseVertex< D, T >::_backup.

estimate()

template<int D, typename T >

const EstimateType & g2o::BaseVertex< D, T >::estimate ( ) const

inline

return the current estimate of the vertex

Definition at line 127 of file base_vertex.h.

{ return _estimate; }

References g2o::BaseVertex< D, T >::_estimate.

Referenced by g2o::OnlineEdgeSE3::chi2(), g2o::EdgeSE2PureCalib::computeError(), EdgeCalib::computeError(), MultipleValueEdge::computeError(), GPSObservationPosition3DEdge::computeError(), TargetOdometry3DEdge::computeError(), GPSObservationEdgePositionVelocity3D::computeError(), g2o::tutorial::EdgeSE2::computeError(), g2o::tutorial::EdgeSE2PointXY::computeError(), g2o::Edge_V_V_GICP::computeError(), g2o::Edge_XYZ_VSC::computeError(), g2o::EdgeProjectP2MC::computeError(), g2o::EdgeProjectP2SC::computeError(), g2o::EdgeProjectPSI2UV::computeError(), g2o::EdgeStereoSE3ProjectXYZ::computeError(), g2o::EdgeStereoSE3ProjectXYZOnlyPose::computeError(), g2o::EdgeSE3ProjectXYZ::computeError(), g2o::EdgeProjectXYZ2UV::computeError(), g2o::EdgeProjectXYZ2UVU::computeError(), g2o::EdgeSE3ProjectXYZOnlyPose::computeError(), g2o::EdgeSBACam::computeError(), g2o::EdgeSBAScale::computeError(), g2o::EdgeSE3Expmap::computeError(), g2o::EdgeSE2OdomDifferentialCalib::computeError(), g2o::EdgeSE2SensorCalib::computeError(), g2o::EdgeSim3::computeError(), g2o::EdgeSim3ProjectXYZ::computeError(), g2o::EdgeInverseSim3ProjectXYZ::computeError(), g2o::EdgePointXY::computeError(), g2o::EdgeSE2::computeError(), g2o::EdgeSE2LotsOfXY::computeError(), g2o::EdgeSE2PointXY::computeError(), g2o::EdgeSE2PointXYBearing::computeError(), g2o::EdgeSE2PointXYCalib::computeError(), g2o::EdgeSE2PointXYOffset::computeError(), g2o::EdgeSE2Prior::computeError(), g2o::EdgeSE2TwoPointsXY::computeError(), g2o::EdgeSE2XYPrior::computeError(), g2o::EdgeXYPrior::computeError(), g2o::EdgeLine2D::computeError(), g2o::EdgeLine2DPointXY::computeError(), g2o::EdgeSE2Line2D::computeError(), g2o::EdgeSE2Segment2D::computeError(), g2o::EdgeSE2Segment2DLine::computeError(), g2o::EdgeSE2Segment2DPointLine::computeError(), g2o::EdgePointXYZ::computeError(), g2o::EdgeSE3::computeError(), g2o::EdgeSE3LotsOfXYZ::computeError(), g2o::EdgeSE3PointXYZ::computeError(), g2o::EdgeSE3PointXYZDepth::computeError(), g2o::EdgeSE3PointXYZDisparity::computeError(), g2o::EdgeSE3XYZPrior::computeError(), g2o::EdgeXYZPrior::computeError(), g2o::EdgePlane::computeError(), g2o::EdgeSE3Calib::computeError(), g2o::EdgeSE3Line3D::computeError(), g2o::EdgeSE3PlaneSensorCalib::computeError(), g2o::Slam2DViewer::draw(), gnudump_edges(), gnudump_features(), TargetOdometry3DEdge::initialEstimate(), g2o::EdgeSE2LotsOfXY::initialEstimate(), g2o::EdgeSE2TwoPointsXY::initialEstimate(), g2o::EdgeSE3LotsOfXYZ::initialEstimate(), g2o::EdgeSE3XYZPrior::initialEstimate(), g2o::EdgeSim3::initialEstimate(), g2o::EdgeSBACam::initialEstimate(), g2o::EdgeSE2SensorCalib::initialEstimate(), g2o::EdgeSE2::initialEstimate(), g2o::EdgeSE2Offset::initialEstimate(), g2o::EdgeSE2PointXY::initialEstimate(), g2o::EdgeSE2PointXYBearing::initialEstimate(), g2o::EdgeSE2PointXYCalib::initialEstimate(), g2o::EdgeSE2PointXYOffset::initialEstimate(), g2o::EdgeSE2Line2D::initialEstimate(), g2o::EdgeSE2Segment2D::initialEstimate(), g2o::EdgeSE3::initialEstimate(), g2o::EdgeSE3Offset::initialEstimate(), g2o::EdgeSE3PointXYZ::initialEstimate(), g2o::EdgeSE3PointXYZDepth::initialEstimate(), g2o::EdgeSE3PointXYZDisparity::initialEstimate(), g2o::EdgeSE3Prior::initialEstimate(), g2o::EdgeSBAScale::initialEstimate(), g2o::EdgeStereoSE3ProjectXYZ::isDepthPositive(), g2o::EdgeStereoSE3ProjectXYZOnlyPose::isDepthPositive(), g2o::EdgeSE3ProjectXYZ::isDepthPositive(), g2o::EdgeSE3ProjectXYZOnlyPose::isDepthPositive(), g2o::Edge_V_V_GICP::linearizeOplus(), g2o::EdgeProjectP2MC::linearizeOplus(), g2o::EdgeProjectP2SC::linearizeOplus(), g2o::EdgeProjectPSI2UV::linearizeOplus(), g2o::EdgeStereoSE3ProjectXYZ::linearizeOplus(), g2o::EdgeStereoSE3ProjectXYZOnlyPose::linearizeOplus(), g2o::EdgeSE3ProjectXYZ::linearizeOplus(), g2o::EdgeProjectXYZ2UV::linearizeOplus(), g2o::EdgeSE3ProjectXYZOnlyPose::linearizeOplus(), g2o::EdgeSE3Expmap::linearizeOplus(), g2o::EdgeSE2::linearizeOplus(), g2o::EdgeSE2LotsOfXY::linearizeOplus(), g2o::EdgeSE2PointXY::linearizeOplus(), g2o::EdgeSE2PointXYOffset::linearizeOplus(), g2o::EdgeSE3::linearizeOplus(), g2o::EdgeSE3LotsOfXYZ::linearizeOplus(), g2o::EdgeSE3Offset::linearizeOplus(), g2o::EdgeSE3PointXYZ::linearizeOplus(), g2o::EdgeSE3PointXYZDepth::linearizeOplus(), g2o::EdgeSE3PointXYZDisparity::linearizeOplus(), g2o::EdgeSE3Prior::linearizeOplus(), g2o::EdgeSE3XYZPrior::linearizeOplus(), main(), main(), main(), Robot::move(), g2o::EdgeSE2WriteGnuplotAction::operator()(), g2o::EdgeSE2PointXYWriteGnuplotAction::operator()(), g2o::EdgeSE2PointXYBearingWriteGnuplotAction::operator()(), g2o::VertexPointXYWriteGnuplotAction::operator()(), g2o::VertexSE2WriteGnuplotAction::operator()(), g2o::EdgeSE3WriteGnuplotAction::operator()(), g2o::VertexPointXYZWriteGnuplotAction::operator()(), g2o::VertexSE3WriteGnuplotAction::operator()(), g2o::Gm2dlIO::readGm2dl(), LineSensor::sense(), PlaneSensor::sense(), g2o::EdgeSBACam::setMeasurementFromState(), g2o::EdgePointXY::setMeasurementFromState(), g2o::EdgeSE2::setMeasurementFromState(), g2o::EdgeSE2LotsOfXY::setMeasurementFromState(), g2o::EdgeSE2PointXY::setMeasurementFromState(), g2o::EdgeSE2PointXYBearing::setMeasurementFromState(), g2o::EdgeSE2PointXYOffset::setMeasurementFromState(), g2o::EdgeSE2TwoPointsXY::setMeasurementFromState(), g2o::EdgeXYPrior::setMeasurementFromState(), g2o::EdgeLine2D::setMeasurementFromState(), g2o::EdgeLine2DPointXY::setMeasurementFromState(), g2o::EdgeSE2Line2D::setMeasurementFromState(), g2o::EdgeSE2Segment2D::setMeasurementFromState(), g2o::EdgeSE2Segment2DLine::setMeasurementFromState(), g2o::EdgeSE2Segment2DPointLine::setMeasurementFromState(), g2o::EdgePointXYZ::setMeasurementFromState(), g2o::EdgeSE3::setMeasurementFromState(), g2o::EdgeSE3LotsOfXYZ::setMeasurementFromState(), g2o::EdgeSE3PointXYZ::setMeasurementFromState(), g2o::EdgeSE3PointXYZDepth::setMeasurementFromState(), g2o::EdgeSE3PointXYZDisparity::setMeasurementFromState(), g2o::EdgeSE3XYZPrior::setMeasurementFromState(), g2o::EdgeXYZPrior::setMeasurementFromState(), g2o::EdgePlane::setMeasurementFromState(), ToVertexSE3(), ToVertexSim3(), updateDisplay(), g2o::tutorial::CacheSE2Offset::updateImpl(), g2o::CacheSE2Offset::updateImpl(), g2o::CacheSE3Offset::updateImpl(), and g2o::Gm2dlIO::updateLaserData().

hessian() [1/2]

template<int D, typename T >

virtual double & g2o::BaseVertex< D, T >::hessian ( int  i, int  j  )

inlinevirtual

Implements g2o::OptimizableGraph::Vertex.

Definition at line 75 of file base_vertex.h.

                                        {
    assert(i < G2O_VERTEX_DIM && j < G2O_VERTEX_DIM);
    return _hessian(i, j);
  }

References g2o::BaseVertex< D, T >::_hessian, and G2O_VERTEX_DIM.

hessian() [2/2]

template<int D, typename T >

virtual const double & g2o::BaseVertex< D, T >::hessian ( int  i, int  j  ) const

inlinevirtual

get the element from the hessian matrix

Implements g2o::OptimizableGraph::Vertex.

Definition at line 71 of file base_vertex.h.

                                                    {
    assert(i < G2O_VERTEX_DIM && j < G2O_VERTEX_DIM);
    return _hessian(i, j);
  }

References g2o::BaseVertex< D, T >::_hessian, and G2O_VERTEX_DIM.

hessianData()

template<int D, typename T >

virtual double * g2o::BaseVertex< D, T >::hessianData ( )

inlinevirtual

Implements g2o::OptimizableGraph::Vertex.

Definition at line 80 of file base_vertex.h.

{ return const_cast<double*>(_hessian.data()); }

References g2o::BaseVertex< D, T >::_hessian.

hessianDeterminant()

template<int D, typename T >

virtual double g2o::BaseVertex< D, T >::hessianDeterminant ( ) const

inlinevirtual

Implements g2o::OptimizableGraph::Vertex.

Definition at line 79 of file base_vertex.h.

{ return _hessian.determinant(); }

References g2o::BaseVertex< D, T >::_hessian.

mapHessianMemory()

template<int D, typename T >

void BaseVertex::mapHessianMemory ( double *  d )

inlinevirtual

maps the internal matrix to some external memory location

Implements g2o::OptimizableGraph::Vertex.

Definition at line 53 of file base_vertex.hpp.

                                                 {
  const int vertexDim = G2O_VERTEX_DIM;
  new (&_hessian) HessianBlockType(d, vertexDim, vertexDim);
}

References G2O_VERTEX_DIM.

operator=()

template<int D, typename T >

BaseVertex & g2o::BaseVertex< D, T >::operator= ( const BaseVertex< D, T > &  )

delete

pop()

template<int D, typename T >

virtual void g2o::BaseVertex< D, T >::pop ( )

inlinevirtual

restore the position of the vertex by retrieving the position from the stack

Implements g2o::OptimizableGraph::Vertex.

Definition at line 114 of file base_vertex.h.

                     {
    assert(!_backup.empty());
    _estimate = _backup.top();
    _backup.pop();
    updateCache();
  }

References g2o::BaseVertex< D, T >::_backup, g2o::BaseVertex< D, T >::_estimate, and g2o::OptimizableGraph::Vertex::updateCache().

push()

template<int D, typename T >

virtual void g2o::BaseVertex< D, T >::push ( )

inlinevirtual

backup the position of the vertex to a stack

Implements g2o::OptimizableGraph::Vertex.

Definition at line 113 of file base_vertex.h.

{ _backup.push(_estimate); }

References g2o::BaseVertex< D, T >::_backup, and g2o::BaseVertex< D, T >::_estimate.

Referenced by g2o::findConnectedEdgesWithCostLimit().

setEstimate()

template<int D, typename T >

void g2o::BaseVertex< D, T >::setEstimate ( const EstimateType &  et )

inline

set the estimate for the vertex also calls updateCache()

Definition at line 129 of file base_vertex.h.

                                           {
    _estimate = et;
    updateCache();
  }

References g2o::BaseVertex< D, T >::_estimate, and g2o::OptimizableGraph::Vertex::updateCache().

Referenced by TargetOdometry3DEdge::initialEstimate(), g2o::EdgeSE2LotsOfXY::initialEstimate(), g2o::EdgeSE2TwoPointsXY::initialEstimate(), g2o::EdgeSE3LotsOfXYZ::initialEstimate(), g2o::EdgeSE3XYZPrior::initialEstimate(), g2o::OnlineEdgeSE2::initialEstimate(), g2o::OnlineEdgeSE3::initialEstimate(), g2o::EdgeSim3::initialEstimate(), g2o::EdgeSE2SensorCalib::initialEstimate(), g2o::EdgeSE2::initialEstimate(), g2o::EdgeSE2Offset::initialEstimate(), g2o::EdgeSE2PointXY::initialEstimate(), g2o::EdgeSE2PointXYBearing::initialEstimate(), g2o::EdgeSE2PointXYCalib::initialEstimate(), g2o::EdgeSE2PointXYOffset::initialEstimate(), g2o::EdgeSE2Prior::initialEstimate(), g2o::EdgeSE2Line2D::initialEstimate(), g2o::EdgeSE3::initialEstimate(), g2o::EdgeSE3Offset::initialEstimate(), g2o::EdgeSE3PointXYZ::initialEstimate(), g2o::EdgeSE3PointXYZDepth::initialEstimate(), g2o::EdgeSE3PointXYZDisparity::initialEstimate(), g2o::EdgeSE3Prior::initialEstimate(), LineInfo::LineInfo(), LineSensor::LineSensor(), main(), main(), main(), Robot::move(), g2o::SparseOptimizerIncremental::optimize(), g2o::SparseOptimizerOnline::optimize(), PlaneSensor::PlaneSensor(), g2o::Gm2dlIO::readGm2dl(), g2o::SolverSLAM2DLinear::solveOrientation(), ToVertexSE3(), and ToVertexSim3().

solveDirect()

template<int D, typename T >

double BaseVertex::solveDirect ( double  lambda = 0 )

inlinevirtual

updates the current vertex with the direct solution x += H_ii\b_ii

Returns

the determinant of the inverted hessian

Implements g2o::OptimizableGraph::Vertex.

Definition at line 34 of file base_vertex.hpp.

                                                  {
  Eigen::Matrix<double, D, D, Eigen::ColMajor> tempA =
      _hessian + Eigen::Matrix<double, D, D, Eigen::ColMajor>::Identity(
                     G2O_VERTEX_DIM, G2O_VERTEX_DIM) *
                     lambda;
  double det = tempA.determinant();
  if (g2o_isnan(det) || det < std::numeric_limits<double>::epsilon())
    return det;
  Eigen::Matrix<double, D, 1, Eigen::ColMajor> dx = tempA.llt().solve(_b);
  oplus(&dx[0]);
  return det;
}

References g2o_isnan, and G2O_VERTEX_DIM.

stackSize()

template<int D, typename T >

virtual int g2o::BaseVertex< D, T >::stackSize ( ) const

inlinevirtual

return the stack size

Implements g2o::OptimizableGraph::Vertex.

Definition at line 124 of file base_vertex.h.

{ return _backup.size(); }

References g2o::BaseVertex< D, T >::_backup.

Member Data Documentation

_b

template<int D, typename T >

Eigen::Matrix<double, D, 1, Eigen::ColMajor> g2o::BaseVertex< D, T >::_b

protected

Definition at line 136 of file base_vertex.h.

Referenced by g2o::BaseVertex< D, T >::b(), g2o::BaseVertex< D, T >::b(), g2o::BaseVertex< D, T >::b(), g2o::BaseVertex< D, T >::b(), g2o::BaseVertex< D, T >::bData(), and g2o::BaseVertex< D, T >::copyB().

_backup

template<int D, typename T >

BackupStackType g2o::BaseVertex< D, T >::_backup

protected

Definition at line 138 of file base_vertex.h.

Referenced by g2o::BaseVertex< D, T >::discardTop(), g2o::BaseVertex< D, T >::pop(), g2o::BaseVertex< D, T >::push(), and g2o::BaseVertex< D, T >::stackSize().

_estimate

template<int D, typename T >

EstimateType g2o::BaseVertex< D, T >::_estimate

protected

Definition at line 137 of file base_vertex.h.

Referenced by g2o::BaseVertex< D, T >::estimate(), PolynomialCoefficientVertex::oplusImpl(), PPolynomialCoefficientVertex::oplusImpl(), g2o::BaseVertex< D, T >::pop(), g2o::BaseVertex< D, T >::push(), PolynomialCoefficientVertex::read(), PPolynomialCoefficientVertex::read(), PolynomialCoefficientVertex::setDimensionImpl(), PPolynomialCoefficientVertex::setDimensionImpl(), g2o::BaseVertex< D, T >::setEstimate(), PolynomialCoefficientVertex::setToOriginImpl(), PPolynomialCoefficientVertex::setToOriginImpl(), PolynomialCoefficientVertex::write(), and PPolynomialCoefficientVertex::write().

_hessian

template<int D, typename T >

HessianBlockType g2o::BaseVertex< D, T >::_hessian

protected

Definition at line 135 of file base_vertex.h.

Referenced by g2o::BaseVertex< D, T >::A(), g2o::BaseVertex< D, T >::A(), g2o::BaseVertex< D, T >::hessian(), g2o::BaseVertex< D, T >::hessian(), g2o::BaseVertex< D, T >::hessianData(), and g2o::BaseVertex< D, T >::hessianDeterminant().

Dimension

template<int D, typename T >

const int g2o::BaseVertex< D, T >::Dimension

static

Initial value:

=
      D

dimension of the estimate (minimal) in the manifold space

Definition at line 56 of file base_vertex.h.

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

• /build/reproducible-path/g2o-0~20230806/g2o/core/base_vertex.h
• /build/reproducible-path/g2o-0~20230806/g2o/core/base_vertex.hpp