prior for an SE3 element More...

#include <edge_se3_prior.h>

Inheritance diagram for g2o::EdgeSE3Prior:

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Collaboration diagram for g2o::EdgeSE3Prior:

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Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	EdgeSE3Prior ()

virtual bool	read (std::istream &is)
	read the vertex from a stream, i.e., the internal state of the vertex

virtual bool	write (std::ostream &os) const
	write the vertex to a stream

void	computeError ()

virtual void	linearizeOplus ()

virtual void	setMeasurement (const Isometry3 &m)

virtual bool	setMeasurementData (const double *d)

virtual bool	getMeasurementData (double *d) const

virtual int	measurementDimension () const

virtual bool	setMeasurementFromState ()

virtual double	initialEstimatePossible (const OptimizableGraph::VertexSet &, OptimizableGraph::Vertex *)

virtual void	initialEstimate (const OptimizableGraph::VertexSet &from, OptimizableGraph::Vertex *to)

Public Member Functions inherited from g2o::BaseUnaryEdge< 6, Isometry3, VertexSE3 >
	BaseUnaryEdge ()

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

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

template<int VertexN>
const VertexXnType< VertexN > *	vertexXn () const

template<int VertexN>
VertexXnType< VertexN > *	vertexXn ()

	BaseFixedSizedEdge ()

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

virtual void	resize (size_t size)

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

virtual bool	allVerticesFixed () const

virtual void	linearizeOplus (JacobianWorkspace &jacobianWorkspace)

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

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

template<int N>
void	linearizeOplusN ()

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

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

virtual void	constructQuadraticForm ()

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

template<int N>
void	constructQuadraticFormN (const InformationType &omega, const ErrorVector &weightedError)

template<int N, typename AtOType >
void	constructOffDiagonalQuadraticFormMs (const AtOType &, std::index_sequence<>)

template<int N, std::size_t... Ints, typename AtOType >
void	constructOffDiagonalQuadraticFormMs (const AtOType &AtO, std::index_sequence< Ints... >)

template<int N, int M, typename AtOType >
void	constructOffDiagonalQuadraticFormM (const AtOType &AtO)

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

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

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

template<int N, typename AtOType >
void	constructOffDiagonalQuadraticFormMs (const AtOType &, std::index_sequence<>)

template<int N, std::size_t... Ints, typename AtOType >
void	constructOffDiagonalQuadraticFormMs (const AtOType &AtO, std::index_sequence< Ints... >)

template<int N, int M, typename AtOType >
void	constructOffDiagonalQuadraticFormM (const AtOType &AtO)

template<int N>
void	constructQuadraticFormN (const InformationType &omega, const ErrorVector &weightedError)

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

template<int N>
void	linearizeOplusN ()

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

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

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 ()

RobustKernel *	robustKernel () const
	if NOT NULL, error of this edge will be robustifed with the kernel

void	setRobustKernel (RobustKernel *ptr)

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)

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 Member Functions
virtual bool	resolveCaches ()

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 ()

Protected Attributes
Isometry3	_inverseMeasurement

ParameterSE3Offset *	_offsetParam

CacheSE3Offset *	_cache

Protected Attributes inherited from g2o::BaseUnaryEdge< 6, Isometry3, VertexSE3 >
BaseFixedSizedEdge< D, Isometry3, VertexSE3 >::template JacobianType< D, VertexXi::Dimension > &	_jacobianOplusXi

Protected Attributes inherited from g2o::BaseFixedSizedEdge< D, E, VertexTypes >
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
Public Types inherited from g2o::BaseUnaryEdge< 6, Isometry3, VertexSE3 >
using	VertexXiType = VertexSE3

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

template<int VertexN>
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

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

template<int DN, int DM>
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...

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

template<int K>
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

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

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

static const std::size_t	_nr_of_vertices = sizeof...(VertexTypes)

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

Detailed Description

prior for an SE3 element

Provides a prior for a 3d pose vertex. Again the measurement is represented by an Isometry3 matrix.

Definition at line 42 of file edge_se3_prior.h.

Constructor & Destructor Documentation

◆ EdgeSE3Prior()

g2o::EdgeSE3Prior::EdgeSE3Prior ( )

Definition at line 38 of file edge_se3_prior.cpp.

                           : BaseUnaryEdge<6, Isometry3, VertexSE3>() {
  setMeasurement(Isometry3::Identity());
  information().setIdentity();
  _cache = 0;
  _offsetParam = 0;
  resizeParameters(1);
  installParameter(_offsetParam, 0);
}

References _cache, _offsetParam, g2o::BaseEdge< D, E >::information(), g2o::OptimizableGraph::Edge::installParameter(), g2o::OptimizableGraph::Edge::resizeParameters(), and setMeasurement().

Member Function Documentation

◆ computeError()

void g2o::EdgeSE3Prior::computeError ( )

virtual

Implements g2o::OptimizableGraph::Edge.

Definition at line 72 of file edge_se3_prior.cpp.

                                {
  Isometry3 delta = _inverseMeasurement * _cache->n2w();
  _error = internal::toVectorMQT(delta);
}

References _cache, g2o::BaseEdge< D, E >::_error, _inverseMeasurement, g2o::CacheSE3Offset::n2w(), and g2o::internal::toVectorMQT().

◆ getMeasurementData()

virtual bool g2o::EdgeSE3Prior::getMeasurementData ( double * m ) const

inlinevirtual

writes the measurement to an array of double

Returns: true on success

Reimplemented from g2o::OptimizableGraph::Edge.

Definition at line 68 of file edge_se3_prior.h.

                                                   {
    Eigen::Map<Vector7> v(d);
    v = internal::toVectorQT(_measurement);
    return true;
  }

◆ initialEstimate()

void g2o::EdgeSE3Prior::initialEstimate	(	const OptimizableGraph::VertexSet &	from,
		OptimizableGraph::Vertex *	to
	)

virtual

set the estimate of the to vertex, based on the estimate of the from vertices in the edge.

Reimplemented from g2o::BaseEdge< D, E >.

Definition at line 92 of file edge_se3_prior.cpp.

                                                              {
  VertexSE3* v = static_cast<VertexSE3*>(_vertices[0]);
  assert(v && "Vertex for the Prior edge is not set");
 
  Isometry3 newEstimate = _offsetParam->offset().inverse() * measurement();
  // do not set translation, as that part of the information is all zero
  if (_information.block<3, 3>(0, 0).array().abs().sum() == 0) {
    newEstimate.translation() = v->estimate().translation();
  }
  // do not set rotation, as that part of the information is all zero
  if (_information.block<3, 3>(3, 3).array().abs().sum() == 0) {
    newEstimate.matrix().block<3, 3>(0, 0) =
        internal::extractRotation(v->estimate());
  }
  v->setEstimate(newEstimate);
}

References g2o::BaseEdge< D, E >::_information, _offsetParam, g2o::HyperGraph::Edge::_vertices, g2o::BaseVertex< D, T >::estimate(), g2o::internal::extractRotation(), g2o::BaseEdge< D, E >::measurement(), g2o::ParameterSE3Offset::offset(), and g2o::BaseVertex< D, T >::setEstimate().

◆ initialEstimatePossible()

virtual double g2o::EdgeSE3Prior::initialEstimatePossible	(	const OptimizableGraph::VertexSet &	from,
		OptimizableGraph::Vertex *	to
	)

inlinevirtual

override in your class if it's possible to initialize the vertices in certain combinations. The return value may correspond to the cost for initiliaizng the vertex but should be positive if the initialization is possible and negative if not possible.

Reimplemented from g2o::OptimizableGraph::Edge.

Definition at line 78 of file edge_se3_prior.h.

                                 {
    return 1.;
  }

◆ linearizeOplus()

void g2o::EdgeSE3Prior::linearizeOplus ( )

virtual

Linearizes the oplus operator in the vertex, and stores the result in temporary variables _jacobianOplus

Reimplemented from g2o::BaseFixedSizedEdge< D, E, VertexTypes >.

Definition at line 77 of file edge_se3_prior.cpp.

                                  {
  VertexSE3* from = static_cast<VertexSE3*>(_vertices[0]);
  Isometry3 E;
  Isometry3 Z, X, P;
  X = from->estimate();
  P = _cache->offsetParam()->offset();
  Z = _measurement;
  internal::computeEdgeSE3PriorGradient(E, _jacobianOplusXi, Z, X, P);
}

References _cache, g2o::BaseUnaryEdge< 6, Isometry3, VertexSE3 >::_jacobianOplusXi, g2o::BaseEdge< D, E >::_measurement, g2o::HyperGraph::Edge::_vertices, g2o::internal::computeEdgeSE3PriorGradient(), g2o::BaseVertex< D, T >::estimate(), g2o::ParameterSE3Offset::offset(), and g2o::CacheSE3Offset::offsetParam().

◆ measurementDimension()

virtual int g2o::EdgeSE3Prior::measurementDimension ( ) const

inlinevirtual

returns the dimension of the measurement in the extended representation which is used by get/setMeasurement;

Reimplemented from g2o::OptimizableGraph::Edge.

Definition at line 74 of file edge_se3_prior.h.

74{ return 7; }

◆ read()

bool g2o::EdgeSE3Prior::read ( std::istream & is )

virtual

read the vertex from a stream, i.e., the internal state of the vertex

Implements g2o::OptimizableGraph::Edge.

Definition at line 56 of file edge_se3_prior.cpp.

                                      {
  bool state = readParamIds(is);
  Vector7 meas;
  state &= internal::readVector(is, meas);
  setMeasurement(internal::fromVectorQT(meas));
  state &= readInformationMatrix(is);
  return state;
}

References g2o::internal::fromVectorQT(), g2o::BaseEdge< D, E >::readInformationMatrix(), g2o::BaseEdge< D, E >::readParamIds(), g2o::internal::readVector(), and setMeasurement().

◆ resolveCaches()

bool g2o::EdgeSE3Prior::resolveCaches ( )

protectedvirtual

Reimplemented from g2o::OptimizableGraph::Edge.

Definition at line 47 of file edge_se3_prior.cpp.

                                 {
  assert(_offsetParam);
  ParameterVector pv(1);
  pv[0] = _offsetParam;
  resolveCache(_cache, (OptimizableGraph::Vertex*)_vertices[0],
               "CACHE_SE3_OFFSET", pv);
  return _cache != 0;
}

References _cache, _offsetParam, g2o::HyperGraph::Edge::_vertices, and g2o::OptimizableGraph::Edge::resolveCache().

◆ setMeasurement()

virtual void g2o::EdgeSE3Prior::setMeasurement ( const Isometry3 & m )

inlinevirtual

Definition at line 56 of file edge_se3_prior.h.

                                                  {
    _measurement = m;
    _inverseMeasurement = m.inverse();
  }

Referenced by EdgeSE3Prior(), Robot::move(), read(), and setMeasurementFromState().

◆ setMeasurementData()

virtual bool g2o::EdgeSE3Prior::setMeasurementData ( const double * m )

inlinevirtual

sets the measurement from an array of double

Returns: true on success

Reimplemented from g2o::OptimizableGraph::Edge.

Definition at line 61 of file edge_se3_prior.h.

                                                   {
    Eigen::Map<const Vector7> v(d);
    _measurement = internal::fromVectorQT(v);
    _inverseMeasurement = _measurement.inverse();
    return true;
  }

◆ setMeasurementFromState()

bool g2o::EdgeSE3Prior::setMeasurementFromState ( )

virtual

sets the estimate to have a zero error, based on the current value of the state variables returns false if not supported.

Reimplemented from g2o::OptimizableGraph::Edge.

Definition at line 87 of file edge_se3_prior.cpp.

                                           {
  setMeasurement(_cache->n2w());
  return true;
}

References _cache, g2o::CacheSE3Offset::n2w(), and setMeasurement().

◆ write()

bool g2o::EdgeSE3Prior::write ( std::ostream & os ) const

virtual

write the vertex to a stream

Implements g2o::OptimizableGraph::Edge.

Definition at line 65 of file edge_se3_prior.cpp.

                                             {
  writeParamIds(os);
  internal::writeVector(os, internal::toVectorQT(measurement()));
  writeInformationMatrix(os);
  return os.good();
}

References g2o::BaseEdge< D, E >::measurement(), g2o::internal::toVectorQT(), g2o::BaseEdge< D, E >::writeInformationMatrix(), g2o::BaseEdge< D, E >::writeParamIds(), and g2o::internal::writeVector().

Member Data Documentation

◆ _cache

CacheSE3Offset* g2o::EdgeSE3Prior::_cache

protected

Definition at line 91 of file edge_se3_prior.h.

Referenced by computeError(), EdgeSE3Prior(), linearizeOplus(), resolveCaches(), and setMeasurementFromState().

◆ _inverseMeasurement

Isometry3 g2o::EdgeSE3Prior::_inverseMeasurement

protected

Definition at line 88 of file edge_se3_prior.h.

Referenced by computeError().

◆ _offsetParam

ParameterSE3Offset* g2o::EdgeSE3Prior::_offsetParam

protected

Definition at line 90 of file edge_se3_prior.h.

Referenced by EdgeSE3Prior(), initialEstimate(), and resolveCaches().

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

/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_prior.h
/build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3_prior.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ EdgeSE3Prior()

Member Function Documentation

◆ computeError()

◆ getMeasurementData()

◆ initialEstimate()

◆ initialEstimatePossible()

◆ linearizeOplus()

◆ measurementDimension()

◆ read()

◆ resolveCaches()

◆ setMeasurement()

◆ setMeasurementData()

◆ setMeasurementFromState()

◆ write()

Member Data Documentation

◆ _cache

◆ _inverseMeasurement

◆ _offsetParam