g2o::BaseVariableSizedEdge< D, E > Class Template Reference

base class to represent an edge connecting an arbitrary number of nodes More...

#include <base_variable_sized_edge.h>

Inheritance diagram for g2o::BaseVariableSizedEdge< D, E >:

Collaboration diagram for g2o::BaseVariableSizedEdge< D, E >:

Classes
struct	HessianHelper
	helper for mapping the Hessian memory of the upper triangular block More...

Public Types
typedef BaseEdge< D, E >::Measurement	Measurement
typedef MatrixX::MapType	JacobianType
typedef BaseEdge< D, E >::ErrorVector	ErrorVector
typedef BaseEdge< D, E >::InformationType	InformationType
typedef Eigen::Map< MatrixX, MatrixX::Flags &Eigen::PacketAccessBit ? Eigen::Aligned :Eigen::Unaligned >	HessianBlockType
Public Types inherited from g2o::BaseEdge< D, E >
typedef E	Measurement
typedef internal::BaseEdgeTraits< D >::ErrorVector	ErrorVector
typedef internal::BaseEdgeTraits< D >::InformationType	InformationType

Public Member Functions
	BaseVariableSizedEdge ()
virtual void	linearizeOplus (JacobianWorkspace &jacobianWorkspace)
virtual void	linearizeOplus ()
virtual void	resize (size_t size)
virtual bool	allVerticesFixed () const
virtual void	constructQuadraticForm ()
virtual void	mapHessianMemory (double *d, int i, int j, bool rowMajor)
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
virtual void	initialEstimate (const OptimizableGraph::VertexSet &, OptimizableGraph::Vertex *)
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 ()
virtual void	computeError ()=0
virtual bool	setMeasurementData (const double *m)
virtual bool	getMeasurementData (double *m) const
virtual int	measurementDimension () const
virtual bool	setMeasurementFromState ()
RobustKernel *	robustKernel () const
	if NOT NULL, error of this edge will be robustifed with the kernel
void	setRobustKernel (RobustKernel *ptr)
virtual double	initialEstimatePossible (const OptimizableGraph::VertexSet &from, OptimizableGraph::Vertex *to)
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)
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
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)

Static Public Attributes
static constexpr int	Dimension = BaseEdge<D, E>::Dimension
Static Public Attributes inherited from g2o::BaseEdge< D, E >
static constexpr int	Dimension = internal::BaseEdgeTraits<D>::Dimension

Protected Member Functions
void	computeQuadraticForm (const InformationType &omega, const ErrorVector &weightedError)
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 ()
virtual bool	resolveCaches ()

Protected Attributes
std::vector< HessianHelper >	_hessian
std::vector< JacobianType >	_jacobianOplus
	jacobians of the edge (w.r.t. oplus)
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

Detailed Description

template<int D, typename E>
class g2o::BaseVariableSizedEdge< D, E >

base class to represent an edge connecting an arbitrary number of nodes

D - Dimension of the measurement E - type to represent the measurement

Definition at line 50 of file base_variable_sized_edge.h.

Member Typedef Documentation

ErrorVector

template<int D, typename E>

typedef BaseEdge<D,E>::ErrorVector g2o::BaseVariableSizedEdge< D, E >::ErrorVector

Definition at line 65 of file base_variable_sized_edge.h.

HessianBlockType

template<int D, typename E>

typedef Eigen::Map<MatrixX, MatrixX::Flags & Eigen::PacketAccessBit ? Eigen::Aligned : Eigen::Unaligned> g2o::BaseVariableSizedEdge< D, E >::HessianBlockType

Definition at line 70 of file base_variable_sized_edge.h.

InformationType

template<int D, typename E>

typedef BaseEdge<D,E>::InformationType g2o::BaseVariableSizedEdge< D, E >::InformationType

Definition at line 66 of file base_variable_sized_edge.h.

JacobianType

template<int D, typename E>

typedef MatrixX::MapType g2o::BaseVariableSizedEdge< D, E >::JacobianType

Definition at line 64 of file base_variable_sized_edge.h.

Measurement

template<int D, typename E>

typedef BaseEdge<D,E>::Measurement g2o::BaseVariableSizedEdge< D, E >::Measurement

Definition at line 63 of file base_variable_sized_edge.h.

Constructor & Destructor Documentation

BaseVariableSizedEdge()

template<int D, typename E>

g2o::BaseVariableSizedEdge< D, E >::BaseVariableSizedEdge ( )

inline

Definition at line 72 of file base_variable_sized_edge.h.

: BaseEdge<D, E>() {}

References g2o::BaseEdge< D, E >::BaseEdge().

Member Function Documentation

allVerticesFixed()

template<int D, typename E>

bool BaseVariableSizedEdge::allVerticesFixed ( ) const

virtual

Implements g2o::OptimizableGraph::Edge.

Definition at line 148 of file base_variable_sized_edge.h.

              {

template <int D, typename E>
class BaseVariableSizedEdge : public BaseEdge<D, E> {
 public:
  struct HessianHelper {
    Eigen::Map<MatrixX> matrix;  
    bool transposed;             
    HessianHelper() : matrix(0, 0, 0), transposed(false) {}
  };
 
 public:
  static constexpr int Dimension = BaseEdge<D, E>::Dimension;
  typedef typename BaseEdge<D, E>::Measurement Measurement;
  typedef MatrixX::MapType JacobianType;
  typedef typename BaseEdge<D, E>::ErrorVector ErrorVector;
  typedef typename BaseEdge<D, E>::InformationType InformationType;
  typedef Eigen::Map<MatrixX, MatrixX::Flags & Eigen::PacketAccessBit
                                  ? Eigen::Aligned
                                  : Eigen::Unaligned>
      HessianBlockType;
 
  BaseVariableSizedEdge() : BaseEdge<D, E>() {}
 
  virtual void linearizeOplus(JacobianWorkspace& jacobianWorkspace);

  virtual void linearizeOplus();
 
  virtual void resize(size_t size);
 
  virtual bool allVerticesFixed() const;
 
  virtual void constructQuadraticForm();
 
  virtual void mapHessianMemory(double* d, int i, int j, bool rowMajor);
 
  using BaseEdge<D, E>::computeError;
 
 protected:
  using BaseEdge<D, E>::_measurement;
  using BaseEdge<D, E>::_information;
  using BaseEdge<D, E>::_error;
  using BaseEdge<D, E>::_vertices;
  using BaseEdge<D, E>::_dimension;
 
  std::vector<HessianHelper> _hessian;
  std::vector<JacobianType>
      _jacobianOplus;  
 
  void computeQuadraticForm(const InformationType& omega,
                            const ErrorVector& weightedError);
 
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
#include "base_variable_sized_edge.hpp"
 
}  // end namespace g2o
 
#endif

computeQuadraticForm()

template<int D, typename E>

void BaseVariableSizedEdge::computeQuadraticForm ( const InformationType & omega, const ErrorVector & weightedError )

protected

Definition at line 158 of file base_variable_sized_edge.h.

              {

template <int D, typename E>
class BaseVariableSizedEdge : public BaseEdge<D, E> {
 public:
  struct HessianHelper {
    Eigen::Map<MatrixX> matrix;  
    bool transposed;             
    HessianHelper() : matrix(0, 0, 0), transposed(false) {}
  };
 
 public:
  static constexpr int Dimension = BaseEdge<D, E>::Dimension;
  typedef typename BaseEdge<D, E>::Measurement Measurement;
  typedef MatrixX::MapType JacobianType;
  typedef typename BaseEdge<D, E>::ErrorVector ErrorVector;
  typedef typename BaseEdge<D, E>::InformationType InformationType;
  typedef Eigen::Map<MatrixX, MatrixX::Flags & Eigen::PacketAccessBit
                                  ? Eigen::Aligned
                                  : Eigen::Unaligned>
      HessianBlockType;
 
  BaseVariableSizedEdge() : BaseEdge<D, E>() {}
 
  virtual void linearizeOplus(JacobianWorkspace& jacobianWorkspace);

  virtual void linearizeOplus();
 
  virtual void resize(size_t size);
 
  virtual bool allVerticesFixed() const;
 
  virtual void constructQuadraticForm();
 
  virtual void mapHessianMemory(double* d, int i, int j, bool rowMajor);
 
  using BaseEdge<D, E>::computeError;
 
 protected:
  using BaseEdge<D, E>::_measurement;
  using BaseEdge<D, E>::_information;
  using BaseEdge<D, E>::_error;
  using BaseEdge<D, E>::_vertices;
  using BaseEdge<D, E>::_dimension;
 
  std::vector<HessianHelper> _hessian;
  std::vector<JacobianType>
      _jacobianOplus;  
 
  void computeQuadraticForm(const InformationType& omega,
                            const ErrorVector& weightedError);
 
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
#include "base_variable_sized_edge.hpp"
 
}  // end namespace g2o
 
#endif

constructQuadraticForm()

template<int D, typename E>

void BaseVariableSizedEdge::constructQuadraticForm ( )

virtual

Linearizes the constraint in the edge. Makes side effect on the vertices of the graph by changing the parameter vector b and the hessian blocks ii and jj. The off diagoinal block is accessed via _hessian.

Implements g2o::OptimizableGraph::Edge.

Definition at line 38 of file base_variable_sized_edge.h.

              {

template <int D, typename E>
class BaseVariableSizedEdge : public BaseEdge<D, E> {

linearizeOplus() [1/2]

template<int D, typename E>

void BaseVariableSizedEdge::linearizeOplus ( )

virtual

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

Definition at line 67 of file base_variable_sized_edge.h.

                                  : Eigen::Unaligned>
      HessianBlockType;
 
  BaseVariableSizedEdge() : BaseEdge<D, E>() {}
 
  virtual void linearizeOplus(JacobianWorkspace& jacobianWorkspace);

  virtual void linearizeOplus();
 
  virtual void resize(size_t size);
 
  virtual bool allVerticesFixed() const;
 
  virtual void constructQuadraticForm();
 
  virtual void mapHessianMemory(double* d, int i, int j, bool rowMajor);
 
  using BaseEdge<D, E>::computeError;
 
 protected:
  using BaseEdge<D, E>::_measurement;
  using BaseEdge<D, E>::_information;
  using BaseEdge<D, E>::_error;
  using BaseEdge<D, E>::_vertices;
  using BaseEdge<D, E>::_dimension;
 
  std::vector<HessianHelper> _hessian;
  std::vector<JacobianType>
      _jacobianOplus;  
 
  void computeQuadraticForm(const InformationType& omega,
                            const ErrorVector& weightedError);
 
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
#include "base_variable_sized_edge.hpp"
 
}  // end namespace g2o
 

linearizeOplus() [2/2]

template<int D, typename E>

void BaseVariableSizedEdge::linearizeOplus ( JacobianWorkspace & jacobianWorkspace )

virtual

Linearizes the constraint in the edge in the manifold space, and store the result in the given workspace

Implements g2o::OptimizableGraph::Edge.

Definition at line 53 of file base_variable_sized_edge.h.

                       {
    Eigen::Map<MatrixX> matrix;  
    bool transposed;             
    HessianHelper() : matrix(0, 0, 0), transposed(false) {}
  };
 
 public:
  static constexpr int Dimension = BaseEdge<D, E>::Dimension;
  typedef typename BaseEdge<D, E>::Measurement Measurement;
  typedef MatrixX::MapType JacobianType;

mapHessianMemory()

template<int D, typename E>

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

virtual

maps the internal matrix to some external memory location, you need to provide the memory before calling constructQuadraticForm

Parameters

d	the memory location to which we map
i	index of the vertex i
j	index of the vertex j (j > i, upper triangular fashion)
rowMajor	if true, will write in rowMajor order to the block. Since EIGEN is columnMajor by default, this results in writing the transposed

Implements g2o::OptimizableGraph::Edge.

Definition at line 116 of file base_variable_sized_edge.h.

              {

template <int D, typename E>
class BaseVariableSizedEdge : public BaseEdge<D, E> {
 public:
  struct HessianHelper {
    Eigen::Map<MatrixX> matrix;  
    bool transposed;             
    HessianHelper() : matrix(0, 0, 0), transposed(false) {}
  };
 
 public:
  static constexpr int Dimension = BaseEdge<D, E>::Dimension;
  typedef typename BaseEdge<D, E>::Measurement Measurement;
  typedef MatrixX::MapType JacobianType;
  typedef typename BaseEdge<D, E>::ErrorVector ErrorVector;
  typedef typename BaseEdge<D, E>::InformationType InformationType;
  typedef Eigen::Map<MatrixX, MatrixX::Flags & Eigen::PacketAccessBit
                                  ? Eigen::Aligned
                                  : Eigen::Unaligned>
      HessianBlockType;
 
  BaseVariableSizedEdge() : BaseEdge<D, E>() {}
 
  virtual void linearizeOplus(JacobianWorkspace& jacobianWorkspace);

  virtual void linearizeOplus();
 
  virtual void resize(size_t size);
 
  virtual bool allVerticesFixed() const;
 
  virtual void constructQuadraticForm();
 
  virtual void mapHessianMemory(double* d, int i, int j, bool rowMajor);
 
  using BaseEdge<D, E>::computeError;
 
 protected:
  using BaseEdge<D, E>::_measurement;
  using BaseEdge<D, E>::_information;
  using BaseEdge<D, E>::_error;
  using BaseEdge<D, E>::_vertices;
  using BaseEdge<D, E>::_dimension;
 
  std::vector<HessianHelper> _hessian;
  std::vector<JacobianType>
      _jacobianOplus;  
 
  void computeQuadraticForm(const InformationType& omega,
                            const ErrorVector& weightedError);
 
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
#include "base_variable_sized_edge.hpp"
 
}  // end namespace g2o
 
#endif

resize()

template<int D, typename E>

void BaseVariableSizedEdge::resize ( size_t size )

virtual

resizes the number of vertices connected by this edge

Reimplemented from g2o::HyperGraph::Edge.

Definition at line 138 of file base_variable_sized_edge.h.

              {

template <int D, typename E>
class BaseVariableSizedEdge : public BaseEdge<D, E> {
 public:
  struct HessianHelper {
    Eigen::Map<MatrixX> matrix;  
    bool transposed;             
    HessianHelper() : matrix(0, 0, 0), transposed(false) {}
  };
 
 public:
  static constexpr int Dimension = BaseEdge<D, E>::Dimension;
  typedef typename BaseEdge<D, E>::Measurement Measurement;
  typedef MatrixX::MapType JacobianType;
  typedef typename BaseEdge<D, E>::ErrorVector ErrorVector;
  typedef typename BaseEdge<D, E>::InformationType InformationType;
  typedef Eigen::Map<MatrixX, MatrixX::Flags & Eigen::PacketAccessBit
                                  ? Eigen::Aligned
                                  : Eigen::Unaligned>
      HessianBlockType;
 
  BaseVariableSizedEdge() : BaseEdge<D, E>() {}
 
  virtual void linearizeOplus(JacobianWorkspace& jacobianWorkspace);

  virtual void linearizeOplus();
 
  virtual void resize(size_t size);
 
  virtual bool allVerticesFixed() const;
 
  virtual void constructQuadraticForm();
 
  virtual void mapHessianMemory(double* d, int i, int j, bool rowMajor);
 
  using BaseEdge<D, E>::computeError;
 
 protected:
  using BaseEdge<D, E>::_measurement;
  using BaseEdge<D, E>::_information;
  using BaseEdge<D, E>::_error;
  using BaseEdge<D, E>::_vertices;
  using BaseEdge<D, E>::_dimension;
 
  std::vector<HessianHelper> _hessian;
  std::vector<JacobianType>
      _jacobianOplus;  
 
  void computeQuadraticForm(const InformationType& omega,
                            const ErrorVector& weightedError);
 
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
#include "base_variable_sized_edge.hpp"
 
}  // end namespace g2o
 
#endif

Member Data Documentation

_hessian

template<int D, typename E>

std::vector<HessianHelper> g2o::BaseVariableSizedEdge< D, E >::_hessian

protected

Definition at line 99 of file base_variable_sized_edge.h.

_jacobianOplus

template<int D, typename E>

std::vector<JacobianType> g2o::BaseVariableSizedEdge< D, E >::_jacobianOplus

protected

jacobians of the edge (w.r.t. oplus)

Definition at line 101 of file base_variable_sized_edge.h.

Dimension

template<int D, typename E>

int g2o::BaseVariableSizedEdge< D, E >::Dimension = BaseEdge<D, E>::Dimension

staticconstexpr

Definition at line 62 of file base_variable_sized_edge.h.

---

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

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