g2o::VertexEllipse Class Reference

string ellipse to be attached to a vertex More...

#include <vertex_ellipse.h>

Inheritance diagram for g2o::VertexEllipse:

Collaboration diagram for g2o::VertexEllipse:

Public Types
using	myVector2fVector = std::vector< Vector2F >

Public Member Functions
	VertexEllipse ()
	~VertexEllipse ()
virtual bool	write (std::ostream &os) const
	write the data to a stream
virtual bool	read (std::istream &is)
	read the data from a stream
const Matrix3F &	covariance ()
void	setCovariance (Matrix3F &c)
const Matrix2F &	U ()
const Vector2F &	singularValues ()
const myVector2fVector &	matchingVertices ()
void	addMatchingVertex (float x, float y)
void	clearMatchingVertices ()
const std::vector< int > &	matchingVerticesIDs ()
void	addMatchingVertexID (int id)
void	clearMatchingVerticesIDs ()
Public Member Functions inherited from g2o::RobotData
	RobotData ()
virtual	~RobotData ()
double	timestamp () const
void	setTimestamp (double ts)
double	loggerTimestamp () const
void	setLoggerTimestamp (double ts)
const std::string &	tag () const
void	setTag (const std::string &tag)
const std::string &	hostname () const
void	setHostname (const std::string &hostname)
Public Member Functions inherited from g2o::HyperGraph::Data
	Data ()
	~Data ()
virtual HyperGraph::HyperGraphElementType	elementType () const
const Data *	next () const
Data *	next ()
void	setNext (Data *next_)
DataContainer *	dataContainer ()
const DataContainer *	dataContainer () const
void	setDataContainer (DataContainer *dataContainer_)
Public Member Functions inherited from g2o::HyperGraph::HyperGraphElement
virtual	~HyperGraphElement ()

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Protected Member Functions
void	_updateSVD () const

Protected Attributes
Matrix3F	_covariance
Matrix2F	_UMatrix
Vector2F	_singularValues
std::vector< int >	_matchingVerticesIDs
myVector2fVector	_matchingVertices
Protected Attributes inherited from g2o::RobotData
double	_timestamp
	timestamp when the measurement was generated
double	_loggerTimestamp
	timestamp when the measurement was recorded
std::string	_tag
	string tag (FLASER, ROBOTLASER, ODOM..) of the line in the log
std::string	_hostname
	name of the computer/robot generating the data
Protected Attributes inherited from g2o::HyperGraph::Data
Data *	_next
DataContainer *	_dataContainer

Detailed Description

string ellipse to be attached to a vertex

Definition at line 39 of file vertex_ellipse.h.

Member Typedef Documentation

myVector2fVector

using g2o::VertexEllipse::myVector2fVector = std::vector<Vector2F>

Definition at line 41 of file vertex_ellipse.h.

Constructor & Destructor Documentation

VertexEllipse()

g2o::VertexEllipse::VertexEllipse

(

)

Definition at line 45 of file vertex_ellipse.cpp.

    : RobotData(),
      _covariance(Matrix3F::Zero()),
      _UMatrix(Matrix2F::Zero()),
      _singularValues(Vector2F::Zero()) {}

~VertexEllipse()

g2o::VertexEllipse::~VertexEllipse

(

)

Definition at line 51 of file vertex_ellipse.cpp.

{}

Member Function Documentation

_updateSVD()

void g2o::VertexEllipse::_updateSVD ( ) const

protected

Definition at line 53 of file vertex_ellipse.cpp.

                                     {
  Eigen::SelfAdjointEigenSolver<Matrix2F> eigenSolver(
      _covariance.block<2, 2>(0, 0));
  _UMatrix = eigenSolver.eigenvectors();
  _singularValues = eigenSolver.eigenvalues();
}

References _covariance, _singularValues, and _UMatrix.

Referenced by read().

addMatchingVertex()

void g2o::VertexEllipse::addMatchingVertex ( float  x, float  y  )

inline

Definition at line 60 of file vertex_ellipse.h.

                                           {
    Vector2F v(x, y);
    _matchingVertices.push_back(v);
  }

Referenced by read().

addMatchingVertexID()

void g2o::VertexEllipse::addMatchingVertexID ( int  id )

inline

Definition at line 68 of file vertex_ellipse.h.

{ _matchingVerticesIDs.push_back(id); }

clearMatchingVertices()

void g2o::VertexEllipse::clearMatchingVertices ( )

inline

Definition at line 65 of file vertex_ellipse.h.

{ _matchingVertices.clear(); }

clearMatchingVerticesIDs()

void g2o::VertexEllipse::clearMatchingVerticesIDs ( )

inline

Definition at line 69 of file vertex_ellipse.h.

{ _matchingVerticesIDs.clear(); }

covariance()

const Matrix3F & g2o::VertexEllipse::covariance ( )

inline

Definition at line 51 of file vertex_ellipse.h.

{ return _covariance; }

matchingVertices()

const myVector2fVector & g2o::VertexEllipse::matchingVertices ( )

inline

Definition at line 59 of file vertex_ellipse.h.

{ return _matchingVertices; }

matchingVerticesIDs()

const std::vector< int > & g2o::VertexEllipse::matchingVerticesIDs ( )

inline

Definition at line 67 of file vertex_ellipse.h.

{ return _matchingVerticesIDs; }

read()

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

virtual

read the data from a stream

Implements g2o::HyperGraph::Data.

Definition at line 60 of file vertex_ellipse.cpp.

                                       {
  float cxx, cxy, cxt, cyy, cyt, ctt;
  is >> cxx >> cxy >> cxt >> cyy >> cyt >> ctt;
  _covariance(0, 0) = cxx;
  _covariance(0, 1) = cxy;
  _covariance(0, 2) = cxt;
  _covariance(1, 0) = cxy;
  _covariance(1, 1) = cyy;
  _covariance(1, 2) = cyt;
  _covariance(2, 0) = cxt;
  _covariance(2, 1) = cyt;
  _covariance(2, 2) = ctt;
 
  _updateSVD();
 
  int size;
  is >> size;
  for (int i = 0; i < size; i++) {
    float x, y;
    is >> x >> y;
    addMatchingVertex(x, y);
  }
 
  return true;
}

References _covariance, _updateSVD(), and addMatchingVertex().

setCovariance()

void g2o::VertexEllipse::setCovariance ( Matrix3F &  c )

inline

Definition at line 52 of file vertex_ellipse.h.

                                  {
    _covariance = c;
    _updateSVD();
  }

singularValues()

const Vector2F & g2o::VertexEllipse::singularValues ( )

inline

Definition at line 57 of file vertex_ellipse.h.

{ return _singularValues; }

U()

const Matrix2F & g2o::VertexEllipse::U ( )

inline

Definition at line 56 of file vertex_ellipse.h.

{ return _UMatrix; }

write()

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

virtual

write the data to a stream

Implements g2o::HyperGraph::Data.

Definition at line 86 of file vertex_ellipse.cpp.

                                              {
  os << _covariance(0, 0) << " " << _covariance(0, 1) << " "
     << _covariance(0, 2) << " " << _covariance(1, 1) << " "
     << _covariance(1, 2) << " " << _covariance(2, 2) << " ";
 
  os << _matchingVertices.size() << " ";
  for (size_t i = 0; i < _matchingVertices.size(); i++) {
    os << _matchingVertices[i].x() << " " << _matchingVertices[i].y() << " ";
  }
 
  return os.good();
}

References _covariance, and _matchingVertices.

Member Data Documentation

_covariance

Matrix3F g2o::VertexEllipse::_covariance

protected

Definition at line 73 of file vertex_ellipse.h.

Referenced by _updateSVD(), read(), and write().

_matchingVertices

myVector2fVector g2o::VertexEllipse::_matchingVertices

protected

Definition at line 77 of file vertex_ellipse.h.

Referenced by write().

_matchingVerticesIDs

std::vector<int> g2o::VertexEllipse::_matchingVerticesIDs

protected

Definition at line 76 of file vertex_ellipse.h.

_singularValues

Vector2F g2o::VertexEllipse::_singularValues

mutableprotected

Definition at line 75 of file vertex_ellipse.h.

Referenced by _updateSVD().

_UMatrix

Matrix2F g2o::VertexEllipse::_UMatrix

mutableprotected

Definition at line 74 of file vertex_ellipse.h.

Referenced by _updateSVD().

EIGEN_MAKE_ALIGNED_OPERATOR_NEW

g2o::VertexEllipse::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 44 of file vertex_ellipse.h.

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

• /build/reproducible-path/g2o-0~20230806/g2o/types/data/vertex_ellipse.h
• /build/reproducible-path/g2o-0~20230806/g2o/types/data/vertex_ellipse.cpp