g2o::EstimatePropagatorCostOdometry Class Reference

cost for traversing only odometry edges. More...

#include <estimate_propagator.h>

Inheritance diagram for g2o::EstimatePropagatorCostOdometry:

Collaboration diagram for g2o::EstimatePropagatorCostOdometry:

Public Member Functions
	EstimatePropagatorCostOdometry (SparseOptimizer *graph)
double	operator() (OptimizableGraph::Edge *edge, const OptimizableGraph::VertexSet &from_, OptimizableGraph::Vertex *to_) const override
std::string_view	name () const override
Public Member Functions inherited from g2o::EstimatePropagatorCost
	EstimatePropagatorCost (SparseOptimizer *graph)

Additional Inherited Members
Protected Attributes inherited from g2o::EstimatePropagatorCost
SparseOptimizer *	_graph

Detailed Description

cost for traversing only odometry edges.

Initialize your graph along odometry edges. An odometry edge is assumed to connect vertices whose IDs only differs by one.

Definition at line 65 of file estimate_propagator.h.

Constructor & Destructor Documentation

EstimatePropagatorCostOdometry()

g2o::EstimatePropagatorCostOdometry::EstimatePropagatorCostOdometry

(

SparseOptimizer *

graph

)

Definition at line 248 of file estimate_propagator.cpp.

    : EstimatePropagatorCost(graph) {}

Member Function Documentation

name()

std::string_view g2o::EstimatePropagatorCostOdometry::name ( ) const

inlineoverridevirtual

Reimplemented from g2o::EstimatePropagatorCost.

Definition at line 72 of file estimate_propagator.h.

{ return "odometry"; }

operator()()

double g2o::EstimatePropagatorCostOdometry::operator() ( OptimizableGraph::Edge *  edge, const OptimizableGraph::VertexSet &  from_, OptimizableGraph::Vertex *  to_  ) const

overridevirtual

Reimplemented from g2o::EstimatePropagatorCost.

Definition at line 252 of file estimate_propagator.cpp.

                                       {
  OptimizableGraph::Edge* e = dynamic_cast<OptimizableGraph::Edge*>(edge);
  OptimizableGraph::Vertex* from =
      dynamic_cast<OptimizableGraph::Vertex*>(*from_.begin());
  OptimizableGraph::Vertex* to = dynamic_cast<OptimizableGraph::Vertex*>(to_);
  if (std::abs(from->id() - to->id()) !=
      1)  // simple method to identify odometry edges in a pose graph
    return std::numeric_limits<double>::max();
  SparseOptimizer::EdgeContainer::const_iterator it = _graph->findActiveEdge(e);
  if (it == _graph->activeEdges().end())  // it has to be an active edge
    return std::numeric_limits<double>::max();
  return e->initialEstimatePossible(from_, to);
}

References g2o::EstimatePropagatorCost::_graph, g2o::SparseOptimizer::activeEdges(), g2o::SparseOptimizer::findActiveEdge(), g2o::HyperGraph::Vertex::id(), and g2o::OptimizableGraph::Edge::initialEstimatePossible().

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

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