g2o::CacheSE2Offset Class Reference

caching the offset related to a vertex More...

#include <parameter_se2_offset.h>

Inheritance diagram for g2o::CacheSE2Offset:

Collaboration diagram for g2o::CacheSE2Offset:

Public Member Functions
	CacheSE2Offset ()
virtual void	updateImpl ()
	redefine this to do the update
const ParameterSE2Offset *	offsetParam () const
void	setOffsetParam (ParameterSE2Offset *offsetParam)
const SE2 &	w2n () const
const SE2 &	n2w () const
const Isometry2 &	w2nMatrix () const
const Isometry2 &	n2wMatrix () const
const Isometry2 &	w2lMatrix () const
const Matrix2	RpInverseRInverseMatrix () const
const Matrix2	RpInverseRInversePrimeMatrix () const
Public Member Functions inherited from g2o::Cache
	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 ()

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Protected Member Functions
virtual bool	resolveDependencies ()
Protected Member Functions inherited from g2o::Cache
Cache *	installDependency (const std::string &type_, const std::vector< int > &parameterIndices)

Protected Attributes
ParameterSE2Offset *	_offsetParam
	the parameter connected to the cache
SE2	_se2_w2n
SE2	_se2_n2w
Isometry2	_w2n
	world to sensor transform
Isometry2	_w2l
	world to local
Isometry2	_n2w
	sensor to world
Matrix2	_RpInverse_RInverse
Matrix2	_RpInverse_RInversePrime
Protected Attributes inherited from g2o::Cache
bool	_updateNeeded
ParameterVector	_parameters
std::vector< Cache * >	_parentCaches
CacheContainer *	_container

Detailed Description

caching the offset related to a vertex

Definition at line 72 of file parameter_se2_offset.h.

Constructor & Destructor Documentation

CacheSE2Offset()

g2o::CacheSE2Offset::CacheSE2Offset

(

)

Definition at line 58 of file parameter_se2_offset.cpp.

: Cache(), _offsetParam(0) {}

Member Function Documentation

n2w()

const SE2 & g2o::CacheSE2Offset::n2w ( ) const

inline

Definition at line 82 of file parameter_se2_offset.h.

{ return _se2_n2w; }

Referenced by g2o::EdgeSE2Offset::computeError(), and g2o::EdgeSE2Offset::setMeasurementFromState().

n2wMatrix()

const Isometry2 & g2o::CacheSE2Offset::n2wMatrix ( ) const

inline

Definition at line 85 of file parameter_se2_offset.h.

{ return _n2w; }

offsetParam()

const ParameterSE2Offset * g2o::CacheSE2Offset::offsetParam ( ) const

inline

Definition at line 78 of file parameter_se2_offset.h.

{ return _offsetParam; }

Referenced by g2o::EdgeSE2Offset::initialEstimate(), and setOffsetParam().

resolveDependencies()

bool g2o::CacheSE2Offset::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 from g2o::Cache.

Definition at line 60 of file parameter_se2_offset.cpp.

                                         {
  _offsetParam = dynamic_cast<ParameterSE2Offset*>(_parameters[0]);
  return _offsetParam != 0;
}

References _offsetParam, and g2o::Cache::_parameters.

RpInverseRInverseMatrix()

const Matrix2 g2o::CacheSE2Offset::RpInverseRInverseMatrix ( ) const

inline

Definition at line 88 of file parameter_se2_offset.h.

{ return _RpInverse_RInverse; }

Referenced by g2o::EdgeSE2PointXYOffset::linearizeOplus().

RpInverseRInversePrimeMatrix()

const Matrix2 g2o::CacheSE2Offset::RpInverseRInversePrimeMatrix ( ) const

inline

Definition at line 89 of file parameter_se2_offset.h.

                                                     {
    return _RpInverse_RInversePrime;
  }

Referenced by g2o::EdgeSE2PointXYOffset::linearizeOplus().

setOffsetParam()

void g2o::CacheSE2Offset::setOffsetParam

(

ParameterSE2Offset *

offsetParam

)

Definition at line 90 of file parameter_se2_offset.cpp.

                                                                   {
  _offsetParam = offsetParam;
}

References _offsetParam, and offsetParam().

updateImpl()

void g2o::CacheSE2Offset::updateImpl ( )

virtual

redefine this to do the update

Implements g2o::Cache.

Definition at line 65 of file parameter_se2_offset.cpp.

                                {
  const VertexSE2* v = static_cast<const VertexSE2*>(vertex());
  _se2_n2w = v->estimate() * _offsetParam->offset();
 
  _n2w = _se2_n2w.rotation().toRotationMatrix();
  _n2w.translation() = _se2_n2w.translation();
 
  _se2_w2n = _se2_n2w.inverse();
  _w2n = _se2_w2n.rotation().toRotationMatrix();
  _w2n.translation() = _se2_w2n.translation();
 
  SE2 w2l = v->estimate().inverse();
  _w2l = w2l.rotation().toRotationMatrix();
  _w2l.translation() = w2l.translation();
 
  double alpha = v->estimate().rotation().angle();
  double c = std::cos(alpha), s = std::sin(alpha);
  Matrix2 RInversePrime;
  RInversePrime << -s, c, -c, -s;
  _RpInverse_RInversePrime =
      _offsetParam->offset().rotation().toRotationMatrix().transpose() *
      RInversePrime;
  _RpInverse_RInverse = w2l.rotation();
}

References _n2w, _offsetParam, _RpInverse_RInverse, _RpInverse_RInversePrime, _se2_n2w, _se2_w2n, _w2l, _w2n, g2o::BaseVertex< D, T >::estimate(), g2o::SE2::inverse(), g2o::ParameterSE2Offset::offset(), g2o::SE2::rotation(), g2o::SE2::translation(), and g2o::Cache::vertex().

w2lMatrix()

const Isometry2 & g2o::CacheSE2Offset::w2lMatrix ( ) const

inline

Definition at line 86 of file parameter_se2_offset.h.

{ return _w2l; }

Referenced by g2o::EdgeSE2PointXYOffset::computeError(), and g2o::EdgeSE2PointXYOffset::setMeasurementFromState().

w2n()

const SE2 & g2o::CacheSE2Offset::w2n ( ) const

inline

Definition at line 81 of file parameter_se2_offset.h.

{ return _se2_w2n; }

Referenced by g2o::EdgeSE2Offset::computeError(), and g2o::EdgeSE2Offset::setMeasurementFromState().

w2nMatrix()

const Isometry2 & g2o::CacheSE2Offset::w2nMatrix ( ) const

inline

Definition at line 84 of file parameter_se2_offset.h.

{ return _w2n; }

Member Data Documentation

_n2w

Isometry2 g2o::CacheSE2Offset::_n2w

protected

sensor to world

Definition at line 100 of file parameter_se2_offset.h.

Referenced by updateImpl().

_offsetParam

ParameterSE2Offset* g2o::CacheSE2Offset::_offsetParam

protected

the parameter connected to the cache

Definition at line 94 of file parameter_se2_offset.h.

Referenced by resolveDependencies(), setOffsetParam(), and updateImpl().

_RpInverse_RInverse

Matrix2 g2o::CacheSE2Offset::_RpInverse_RInverse

protected

Definition at line 101 of file parameter_se2_offset.h.

Referenced by updateImpl().

_RpInverse_RInversePrime

Matrix2 g2o::CacheSE2Offset::_RpInverse_RInversePrime

protected

Definition at line 102 of file parameter_se2_offset.h.

Referenced by updateImpl().

_se2_n2w

SE2 g2o::CacheSE2Offset::_se2_n2w

protected

Definition at line 96 of file parameter_se2_offset.h.

Referenced by updateImpl().

_se2_w2n

SE2 g2o::CacheSE2Offset::_se2_w2n

protected

Definition at line 95 of file parameter_se2_offset.h.

Referenced by updateImpl().

_w2l

Isometry2 g2o::CacheSE2Offset::_w2l

protected

world to local

Definition at line 99 of file parameter_se2_offset.h.

Referenced by updateImpl().

_w2n

Isometry2 g2o::CacheSE2Offset::_w2n

protected

world to sensor transform

Definition at line 98 of file parameter_se2_offset.h.

Referenced by updateImpl().

EIGEN_MAKE_ALIGNED_OPERATOR_NEW

g2o::CacheSE2Offset::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 74 of file parameter_se2_offset.h.

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

• /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/parameter_se2_offset.h
• /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/parameter_se2_offset.cpp