g2o::EstimateAccessorGet< Edge > Class Template Reference

#include <auto_differentiation.h>

Collaboration diagram for g2o::EstimateAccessorGet< Edge >:

Classes
struct	BufferType
struct	BufferType< std::index_sequence< Ints... > >

Public Member Functions
template<int k>
EIGEN_STRONG_INLINE double *	data (Edge *that)

Protected Types
using	Buffer

Protected Attributes
Buffer	_estimateBuffer

Detailed Description

template<typename Edge>
class g2o::EstimateAccessorGet< Edge >

functor to access the estimate pointer by the getEstimateData() function that can be implemented in vertex types. Downside is that we have to buffer the data. In such a case, Edge::computeError is most likely implemented on own types and Edge::operator() has to be re-implemented consuming pointers to obtain the error for linearizing. See the implementation of EdgeSE2AD in unit_test/general/auto_diff.cpp

Definition at line 63 of file auto_differentiation.h.

Member Typedef Documentation

Buffer

template<typename Edge>

using g2o::EstimateAccessorGet< Edge >::Buffer

protected

Initial value:

 typename BufferType<
      std::make_index_sequence<Edge::_nr_of_vertices>>::type

Definition at line 84 of file auto_differentiation.h.

Member Function Documentation

data()

template<typename Edge>

template<int k>

EIGEN_STRONG_INLINE double * g2o::EstimateAccessorGet< Edge >::data ( Edge * that )

inline

Definition at line 66 of file auto_differentiation.h.

                                               {
    auto& buffer = std::get<k>(_estimateBuffer);
    buffer.resize(that->template vertexDimension<k>());
    double* rawBuffer = const_cast<double*>(buffer.data());
    bool gotData = that->template vertexXn<k>()->getEstimateData(rawBuffer);
    assert(gotData && "Called getEstimateData, but seems unimplmented");
    return gotData ? rawBuffer : nullptr;
  }

References _estimateBuffer.

Member Data Documentation

_estimateBuffer

template<typename Edge>

Buffer g2o::EstimateAccessorGet< Edge >::_estimateBuffer

protected

Definition at line 86 of file auto_differentiation.h.

Referenced by data().

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

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