g2o::BaseDynamicVertex< T > Class Template Reference

#include <base_dynamic_vertex.h>

Inheritance diagram for g2o::BaseDynamicVertex< T >:

Collaboration diagram for g2o::BaseDynamicVertex< T >:

Public Member Functions
virtual bool	setDimension (int newDimension)
Public Member Functions inherited from g2o::BaseVertex<-1, T >
	BaseVertex ()
BaseVertex &	operator= (const BaseVertex &)=delete
virtual const double &	hessian (int i, int j) const
	get the element from the hessian matrix
virtual double	hessianDeterminant () const
virtual double *	hessianData ()
virtual void	mapHessianMemory (double *d)
virtual int	copyB (double *b_) const
virtual const double &	b (int i) const
	get the b vector element
virtual double *	bData ()
	return a pointer to the b vector associated with this vertex
virtual void	clearQuadraticForm ()
virtual double	solveDirect (double lambda=0)
HessianBlockType &	A ()
	return the hessian block associated with the vertex
virtual void	push ()
	backup the position of the vertex to a stack
virtual void	pop ()
virtual void	discardTop ()
virtual int	stackSize () const
	return the stack size
const EstimateType &	estimate () const
	return the current estimate of the vertex
void	setEstimate (const EstimateType &et)
	set the estimate for the vertex also calls updateCache()
Public Member Functions inherited from g2o::OptimizableGraph::Vertex
	Vertex ()
virtual	~Vertex ()
void	setToOrigin ()
	sets the node to the origin (used in the multilevel stuff)
virtual double &	hessian (int i, int j)=0
virtual double &	b (int i)=0
bool	setEstimateData (const double *estimate)
bool	setEstimateData (const std::vector< double > &estimate)
template<typename Derived>
bool	setEstimateData (const Eigen::MatrixBase< Derived > &estimate)
virtual bool	getEstimateData (double *estimate) const
virtual bool	getEstimateData (std::vector< double > &estimate) const
template<typename Derived>
bool	getEstimateData (Eigen::MatrixBase< Derived > &estimate) const
virtual int	estimateDimension () const
bool	setMinimalEstimateData (const double *estimate)
bool	setMinimalEstimateData (const std::vector< double > &estimate)
template<typename Derived>
bool	setMinimalEstimateData (const Eigen::MatrixBase< Derived > &estimate)
virtual bool	getMinimalEstimateData (double *estimate) const
virtual bool	getMinimalEstimateData (std::vector< double > &estimate) const
template<typename Derived>
bool	getMinimalEstimateData (Eigen::MatrixBase< Derived > &estimate) const
virtual int	minimalEstimateDimension () const
void	oplus (const double *v)
int	hessianIndex () const
int	G2O_ATTRIBUTE_DEPRECATED (tempIndex() const)
void	setHessianIndex (int ti)
	set the temporary index of the vertex in the parameter blocks
void	G2O_ATTRIBUTE_DEPRECATED (setTempIndex(int ti))
bool	fixed () const
	true => this node is fixed during the optimization
void	setFixed (bool fixed)
	true => this node should be considered fixed during the optimization
bool	marginalized () const
	true => this node is marginalized out during the optimization
void	setMarginalized (bool marginalized)
	true => this node should be marginalized out during the optimization
int	dimension () const
	dimension of the estimated state belonging to this node
virtual void	setId (int id)
void	setColInHessian (int c)
	set the row of this vertex in the Hessian
int	colInHessian () const
	get the row of this vertex in the Hessian
const OptimizableGraph *	graph () const
OptimizableGraph *	graph ()
void	lockQuadraticForm ()
void	unlockQuadraticForm ()
virtual bool	read (std::istream &is)=0
	read the vertex from a stream, i.e., the internal state of the vertex
virtual bool	write (std::ostream &os) const =0
	write the vertex to a stream
virtual void	updateCache ()
CacheContainer *	cacheContainer ()
Public Member Functions inherited from g2o::HyperGraph::Vertex
	Vertex (int id=InvalidId)
	creates a vertex having an ID specified by the argument
int	id () const
	returns the id
const EdgeSet &	edges () const
	returns the set of hyper-edges that are leaving/entering in this vertex
EdgeSet &	edges ()
	returns the set of hyper-edges that are leaving/entering in this vertex
virtual HyperGraphElementType	elementType () 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	setDimensionImpl (int newDimension)=0
Protected Member Functions inherited from g2o::OptimizableGraph::Vertex
virtual void	oplusImpl (const double *v)=0
virtual void	setToOriginImpl ()=0
	sets the node to the origin (used in the multilevel stuff)
virtual bool	setEstimateDataImpl (const double *)
virtual bool	setMinimalEstimateDataImpl (const double *)

Additional Inherited Members
Public Types inherited from g2o::BaseVertex<-1, T >
using	EstimateType
using	BackupStackType
using	HessianBlockType
Static Public Attributes inherited from g2o::BaseVertex<-1, T >
static const int	Dimension
	dimension of the estimate (minimal) in the manifold space
Protected Attributes inherited from g2o::BaseVertex<-1, T >
HessianBlockType	_hessian
Eigen::Matrix< double, D, 1, Eigen::ColMajor >	_b
EstimateType	_estimate
BackupStackType	_backup
Protected Attributes inherited from g2o::OptimizableGraph::Vertex
OptimizableGraph *	_graph
Data *	_userData
int	_hessianIndex
bool	_fixed
bool	_marginalized
int	_dimension
int	_colInHessian
OpenMPMutex	_quadraticFormMutex
CacheContainer *	_cacheContainer
Protected Attributes inherited from g2o::HyperGraph::Vertex
int	_id
EdgeSet	_edges
Protected Attributes inherited from g2o::HyperGraph::DataContainer
Data *	_userData

Detailed Description

template<typename T>
class g2o::BaseDynamicVertex< T >

Definition at line 36 of file base_dynamic_vertex.h.

Member Function Documentation

setDimension()

template<typename T>

bool g2o::BaseDynamicVertex< T >::setDimension ( int newDimension )

inlinevirtual

Definition at line 54 of file base_dynamic_vertex.h.

                                                        {
  // Check the dimension is non-negative.
  assert(newDimension >= 0);
  if (newDimension < 0) return false;
 
  // Nothing to do if the dimension is unchanged.
  if (newDimension == _dimension) return true;
 
  // Change the state to the requested dimension
  if (setDimensionImpl(newDimension) == false) return false;
 
  // Store the old dimension and assign the new
  int oldDimension = _dimension;
  _dimension = newDimension;
 
  // Reset the allocation associated with this vertex and update the cache
  setHessianIndex(-1);
  mapHessianMemory(nullptr);
  _b.resize(_dimension);
  updateCache();
 
  // If the dimension is being increased and this vertex is in a
  // graph, update the size of the Jacobian workspace just in case it
  // needs to grow.
  if ((newDimension > oldDimension) && (_graph != nullptr)) {
    JacobianWorkspace& jacobianWorkspace = _graph->jacobianWorkspace();
    for (auto e : _edges) jacobianWorkspace.updateSize(e);
  }
 
  return true;
}

References g2o::BaseVertex<-1, T >::_b, g2o::OptimizableGraph::Vertex::_dimension, g2o::HyperGraph::Vertex::_edges, g2o::OptimizableGraph::Vertex::_graph, g2o::BaseVertex<-1, T >::mapHessianMemory(), setDimensionImpl(), g2o::OptimizableGraph::Vertex::setHessianIndex(), g2o::OptimizableGraph::Vertex::updateCache(), and g2o::JacobianWorkspace::updateSize().

Referenced by main().

setDimensionImpl()

template<typename T>

virtual bool g2o::BaseDynamicVertex< T >::setDimensionImpl ( int newDimension )

protectedpure virtual

Implemented in PolynomialCoefficientVertex, and PPolynomialCoefficientVertex.

References g2o::BaseVertex<-1, T >::_b, g2o::OptimizableGraph::Vertex::_dimension, g2o::HyperGraph::Vertex::_edges, g2o::OptimizableGraph::Vertex::_graph, g2o::BaseVertex<-1, T >::BaseVertex(), g2o::BaseVertex<-1, T >::mapHessianMemory(), g2o::OptimizableGraph::Vertex::setHessianIndex(), and g2o::OptimizableGraph::Vertex::updateCache().

Referenced by setDimension().

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

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