g2o::Cache Class Reference

#include <cache.h>

Inheritance diagram for g2o::Cache:

Collaboration diagram for g2o::Cache:

Classes
class	CacheKey

Public Member Functions
	Cache (CacheContainer *container_=0, const ParameterVector &parameters_=ParameterVector())
CacheKey	key () const
OptimizableGraph::Vertex *	vertex ()
OptimizableGraph *	graph ()
CacheContainer *	container ()
ParameterVector &	parameters ()
void	update ()
virtual HyperGraph::HyperGraphElementType	elementType () const
Public Member Functions inherited from g2o::HyperGraph::HyperGraphElement
virtual	~HyperGraphElement ()

Protected Member Functions
virtual void	updateImpl ()=0
	redefine this to do the update
Cache *	installDependency (const std::string &type_, const std::vector< int > &parameterIndices)
virtual bool	resolveDependencies ()

Protected Attributes
bool	_updateNeeded
ParameterVector	_parameters
std::vector< Cache * >	_parentCaches
CacheContainer *	_container

Friends
class	CacheContainer

Detailed Description

Definition at line 39 of file cache.h.

Constructor & Destructor Documentation

Cache()

g2o::Cache::Cache	(	CacheContainer *	container_ = 0,
		const ParameterVector &	parameters_ = ParameterVector()
	)

Definition at line 44 of file cache.cpp.

    : _updateNeeded(true), _parameters(parameters_), _container(container_) {}

Member Function Documentation

container()

CacheContainer * g2o::Cache::container

(

)

Definition at line 67 of file cache.cpp.

{ return _container; }

References _container.

Referenced by graph(), installDependency(), and vertex().

elementType()

virtual HyperGraph::HyperGraphElementType g2o::Cache::elementType ( ) const

inlinevirtual

returns the type of the graph element, see HyperGraphElementType

Implements g2o::HyperGraph::HyperGraphElement.

Definition at line 70 of file cache.h.

                                                              {
    return HyperGraph::HGET_CACHE;
  }

graph()

OptimizableGraph * g2o::Cache::graph

(

)

Definition at line 62 of file cache.cpp.

                               {
  if (container()) return container()->graph();
  return nullptr;
}

References container(), and g2o::CacheContainer::graph().

installDependency()

Cache * g2o::Cache::installDependency ( const std::string &  type_, const std::vector< int > &  parameterIndices  )

protected

this function installs and satisfies a cache

Parameters

type_

the typename of the dependency

parameterIndices

a vector containing the indices if the parameters in _parameters that will be used to assemble the Key of the cache being created For example if I have a cache of type C2, having parameters "A, B, and C", and it depends on a cache of type C1 that depends on the parameters A and C, the parameterIndices should contain "0, 2", since they are the positions in the parameter vector of C2 of the parameters needed to construct C1.

Returns

the newly created cache

Definition at line 86 of file cache.cpp.

                                                                        {
  ParameterVector pv(parameterIndices.size());
  for (size_t i = 0; i < parameterIndices.size(); i++) {
    if (parameterIndices[i] < 0 ||
        parameterIndices[i] >= (int)_parameters.size())
      return nullptr;
    pv[i] = _parameters[parameterIndices[i]];
  }
  CacheKey k(type_, pv);
  if (!container()) return nullptr;
  Cache* c = container()->findCache(k);
  if (!c) {
    c = container()->createCache(k);
  }
  if (c) _parentCaches.push_back(c);
  return c;
}

References _parameters, _parentCaches, container(), g2o::CacheContainer::createCache(), and g2o::CacheContainer::findCache().

key()

Cache::CacheKey g2o::Cache::key

(

)

const

Definition at line 71 of file cache.cpp.

                               {
  Factory* factory = Factory::instance();
  return CacheKey(factory->tag(this), _parameters);
};

References _parameters, g2o::Factory::instance(), and g2o::Factory::tag().

parameters()

ParameterVector & g2o::Cache::parameters

(

)

Definition at line 69 of file cache.cpp.

{ return _parameters; }

References _parameters.

resolveDependencies()

bool g2o::Cache::resolveDependencies ( )

protectedvirtual

Function to be called from a cache that has dependencies. It just invokes a sequence of installDependency(). Although the caches returned are stored in the _parentCache vector, it is better that you redefine your own cache member variables, for better readability

Reimplemented in g2o::tutorial::CacheSE2Offset, g2o::CacheSE2Offset, g2o::CacheCamera, and g2o::CacheSE3Offset.

Definition at line 105 of file cache.cpp.

{ return true; }

Referenced by g2o::CacheContainer::createCache().

update()

void g2o::Cache::update

(

)

Definition at line 76 of file cache.cpp.

                   {
  if (!_updateNeeded) return;
  for (std::vector<Cache*>::iterator it = _parentCaches.begin();
       it != _parentCaches.end(); ++it) {
    (*it)->update();
  }
  updateImpl();
  _updateNeeded = false;
}

References _parentCaches, _updateNeeded, and updateImpl().

Referenced by g2o::CacheContainer::createCache().

updateImpl()

virtual void g2o::Cache::updateImpl ( )

protectedpure virtual

redefine this to do the update

Implemented in g2o::tutorial::CacheSE2Offset, g2o::CacheSE2Offset, g2o::CacheCamera, and g2o::CacheSE3Offset.

Referenced by update().

vertex()

OptimizableGraph::Vertex * g2o::Cache::vertex

(

)

Definition at line 57 of file cache.cpp.

                                      {
  if (container()) return container()->vertex();
  return nullptr;
}

References container(), and g2o::CacheContainer::vertex().

Referenced by g2o::tutorial::CacheSE2Offset::updateImpl(), g2o::CacheSE2Offset::updateImpl(), and g2o::CacheSE3Offset::updateImpl().

Friends And Related Symbol Documentation

CacheContainer

friend class CacheContainer

friend

Definition at line 41 of file cache.h.

Member Data Documentation

_container

CacheContainer* g2o::Cache::_container

protected

Definition at line 105 of file cache.h.

Referenced by container(), and g2o::CacheContainer::createCache().

_parameters

ParameterVector g2o::Cache::_parameters

protected

Definition at line 103 of file cache.h.

Referenced by g2o::CacheContainer::createCache(), installDependency(), key(), parameters(), g2o::tutorial::CacheSE2Offset::resolveDependencies(), g2o::CacheSE2Offset::resolveDependencies(), g2o::CacheCamera::resolveDependencies(), and g2o::CacheSE3Offset::resolveDependencies().

_parentCaches

std::vector<Cache*> g2o::Cache::_parentCaches

protected

Definition at line 104 of file cache.h.

Referenced by installDependency(), and update().

_updateNeeded

bool g2o::Cache::_updateNeeded

protected

Definition at line 102 of file cache.h.

Referenced by update().

---

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

• /build/reproducible-path/g2o-0~20230806/g2o/core/cache.h
• /build/reproducible-path/g2o-0~20230806/g2o/core/cache.cpp