g2o::CacheSE3Offset Class Reference

caching the offset related to a vertex More...

#include <parameter_se3_offset.h>

Inheritance diagram for g2o::CacheSE3Offset:

Collaboration diagram for g2o::CacheSE3Offset:

Public Member Functions
	CacheSE3Offset ()
virtual void	updateImpl ()
	redefine this to do the update
const ParameterSE3Offset *	offsetParam () const
void	setOffsetParam (ParameterSE3Offset *offsetParam)
const Isometry3 &	w2n () const
const Isometry3 &	n2w () const
const Isometry3 &	w2l () 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
ParameterSE3Offset *	_offsetParam
	the parameter connected to the cache
Isometry3	_w2n
Isometry3	_n2w
Isometry3	_w2l
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 67 of file parameter_se3_offset.h.

Constructor & Destructor Documentation

CacheSE3Offset()

g2o::CacheSE3Offset::CacheSE3Offset

(

)

Definition at line 60 of file parameter_se3_offset.cpp.

: Cache(), _offsetParam(0) {}

Member Function Documentation

n2w()

const Isometry3 & g2o::CacheSE3Offset::n2w ( ) const

inline

Definition at line 77 of file parameter_se3_offset.h.

{ return _n2w; }

Referenced by g2o::EdgeSE3Offset::computeError(), g2o::EdgeSE3Prior::computeError(), g2o::EdgeSE3Offset::setMeasurementFromState(), and g2o::EdgeSE3Prior::setMeasurementFromState().

offsetParam()

const ParameterSE3Offset * g2o::CacheSE3Offset::offsetParam ( ) const

inline

Definition at line 73 of file parameter_se3_offset.h.

{ return _offsetParam; }

Referenced by g2o::EdgeSE3Offset::initialEstimate(), g2o::EdgeSE3Offset::linearizeOplus(), g2o::EdgeSE3Prior::linearizeOplus(), and setOffsetParam().

resolveDependencies()

bool g2o::CacheSE3Offset::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.

Reimplemented in g2o::CacheCamera.

Definition at line 62 of file parameter_se3_offset.cpp.

                                         {
  _offsetParam = dynamic_cast<ParameterSE3Offset*>(_parameters[0]);
  return _offsetParam != 0;
}

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

Referenced by g2o::CacheCamera::resolveDependencies().

setOffsetParam()

void g2o::CacheSE3Offset::setOffsetParam

(

ParameterSE3Offset *

offsetParam

)

Definition at line 74 of file parameter_se3_offset.cpp.

                                                                   {
  _offsetParam = offsetParam;
}

References _offsetParam, and offsetParam().

updateImpl()

void g2o::CacheSE3Offset::updateImpl ( )

virtual

redefine this to do the update

Implements g2o::Cache.

Reimplemented in g2o::CacheCamera.

Definition at line 67 of file parameter_se3_offset.cpp.

                                {
  const VertexSE3* v = static_cast<const VertexSE3*>(vertex());
  _n2w = v->estimate() * _offsetParam->offset();
  _w2n = _n2w.inverse();
  _w2l = v->estimate().inverse();
}

References _n2w, _offsetParam, _w2l, _w2n, g2o::BaseVertex< D, T >::estimate(), g2o::ParameterSE3Offset::offset(), and g2o::Cache::vertex().

Referenced by g2o::CacheCamera::updateImpl().

w2l()

const Isometry3 & g2o::CacheSE3Offset::w2l ( ) const

inline

Definition at line 78 of file parameter_se3_offset.h.

{ return _w2l; }

Referenced by g2o::EdgeSE3PointXYZ::linearizeOplus(), g2o::EdgeSE3PointXYZDepth::linearizeOplus(), and g2o::EdgeSE3PointXYZDisparity::linearizeOplus().

w2n()

const Isometry3 & g2o::CacheSE3Offset::w2n ( ) const

inline

Definition at line 76 of file parameter_se3_offset.h.

{ return _w2n; }

Referenced by g2o::EdgeSE3Offset::computeError(), g2o::EdgeSE3PointXYZ::computeError(), g2o::EdgeSE3Offset::setMeasurementFromState(), g2o::EdgeSE3PointXYZ::setMeasurementFromState(), and g2o::CacheCamera::updateImpl().

Member Data Documentation

_n2w

Isometry3 g2o::CacheSE3Offset::_n2w

protected

Definition at line 83 of file parameter_se3_offset.h.

Referenced by updateImpl().

_offsetParam

ParameterSE3Offset* g2o::CacheSE3Offset::_offsetParam

protected

the parameter connected to the cache

Definition at line 81 of file parameter_se3_offset.h.

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

_w2l

Isometry3 g2o::CacheSE3Offset::_w2l

protected

Definition at line 84 of file parameter_se3_offset.h.

Referenced by updateImpl().

_w2n

Isometry3 g2o::CacheSE3Offset::_w2n

protected

Definition at line 82 of file parameter_se3_offset.h.

Referenced by updateImpl().

EIGEN_MAKE_ALIGNED_OPERATOR_NEW

g2o::CacheSE3Offset::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 69 of file parameter_se3_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/slam3d/parameter_se3_offset.h
• /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/parameter_se3_offset.cpp