g2o::EdgeGICP Class Reference

#include <types_icp.h>

Public Member Functions
	EdgeGICP ()
void	makeRot0 ()
void	makeRot1 ()
Matrix3	prec0 (double e)
Matrix3	prec1 (double e)
Matrix3	cov0 (double e)
Matrix3	cov1 (double e)

Public Attributes
Vector3	pos0
Vector3	pos1
Vector3	normal0
Vector3	normal1
Matrix3	R0
Matrix3	R1

Private Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Detailed Description

Definition at line 57 of file types_icp.h.

Constructor & Destructor Documentation

EdgeGICP()

g2o::EdgeGICP::EdgeGICP ( )

inline

Definition at line 71 of file types_icp.h.

             {
    pos0.setZero();
    pos1.setZero();
    normal0 << 0, 0, 1;
    normal1 << 0, 0, 1;
    // makeRot();
    R0.setIdentity();
    R1.setIdentity();
  }

References normal0, normal1, pos0, pos1, R0, and R1.

Member Function Documentation

cov0()

Matrix3 g2o::EdgeGICP::cov0 ( double e )

inline

Definition at line 123 of file types_icp.h.

                         {
    makeRot0();
    Matrix3 cov;
    cov << 1, 0, 0, 0, 1, 0, 0, 0, e;
    return R0.transpose() * cov * R0;
  }

References makeRot0(), and R0.

cov1()

Matrix3 g2o::EdgeGICP::cov1 ( double e )

inline

Definition at line 131 of file types_icp.h.

                         {
    makeRot1();
    Matrix3 cov;
    cov << 1, 0, 0, 0, 1, 0, 0, 0, e;
    return R1.transpose() * cov * R1;
  }

References makeRot1(), and R1.

makeRot0()

void g2o::EdgeGICP::makeRot0 ( )

inline

Definition at line 82 of file types_icp.h.

                  {
    Vector3 y;
    y << 0, 1, 0;
    R0.row(2) = normal0;
    y = y - normal0(1) * normal0;
    y.normalize();  // need to check if y is close to 0
    R0.row(1) = y;
    R0.row(0) = normal0.cross(R0.row(1));
    //      cout << normal.transpose() << endl;
    //      cout << R0 << endl << endl;
    //      cout << R0*R0.transpose() << endl << endl;
  }

References normal0, and R0.

Referenced by cov0(), and prec0().

makeRot1()

void g2o::EdgeGICP::makeRot1 ( )

inline

Definition at line 96 of file types_icp.h.

                  {
    Vector3 y;
    y << 0, 1, 0;
    R1.row(2) = normal1;
    y = y - normal1(1) * normal1;
    y.normalize();  // need to check if y is close to 0
    R1.row(1) = y;
    R1.row(0) = normal1.cross(R1.row(1));
  }

References normal1, and R1.

Referenced by cov1(), and prec1().

prec0()

Matrix3 g2o::EdgeGICP::prec0 ( double e )

inline

Definition at line 107 of file types_icp.h.

                          {
    makeRot0();
    Matrix3 prec;
    prec << e, 0, 0, 0, e, 0, 0, 0, 1;
    return R0.transpose() * prec * R0;
  }

References makeRot0(), and R0.

Referenced by main(), and main().

prec1()

Matrix3 g2o::EdgeGICP::prec1 ( double e )

inline

Definition at line 115 of file types_icp.h.

                          {
    makeRot1();
    Matrix3 prec;
    prec << e, 0, 0, 0, e, 0, 0, 0, 1;
    return R1.transpose() * prec * R1;
  }

References makeRot1(), and R1.

Member Data Documentation

EIGEN_MAKE_ALIGNED_OPERATOR_NEW

g2o::EdgeGICP::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

private

Definition at line 58 of file types_icp.h.

normal0

Vector3 g2o::EdgeGICP::normal0

Definition at line 65 of file types_icp.h.

Referenced by EdgeGICP(), main(), main(), makeRot0(), and g2o::Edge_V_V_GICP::write().

normal1

Vector3 g2o::EdgeGICP::normal1

Definition at line 65 of file types_icp.h.

Referenced by EdgeGICP(), main(), main(), makeRot1(), and g2o::Edge_V_V_GICP::write().

pos0

Vector3 g2o::EdgeGICP::pos0

Definition at line 62 of file types_icp.h.

Referenced by EdgeGICP(), main(), main(), and g2o::Edge_V_V_GICP::write().

pos1

Vector3 g2o::EdgeGICP::pos1

Definition at line 62 of file types_icp.h.

Referenced by EdgeGICP(), g2o::Edge_V_V_GICP::linearizeOplus(), main(), main(), and g2o::Edge_V_V_GICP::write().

R0

Matrix3 g2o::EdgeGICP::R0

Definition at line 68 of file types_icp.h.

Referenced by cov0(), EdgeGICP(), makeRot0(), prec0(), and g2o::Edge_V_V_GICP::read().

R1

Matrix3 g2o::EdgeGICP::R1

Definition at line 68 of file types_icp.h.

Referenced by cov1(), EdgeGICP(), makeRot1(), and prec1().

---

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

• /build/reproducible-path/g2o-0~20230806/g2o/types/icp/types_icp.h