g2o::EstimatePropagator Class Reference

propagation of an initial guess More...

#include <estimate_propagator.h>

Collaboration diagram for g2o::EstimatePropagator:

Classes
struct	PropagateAction
	Applying the action for propagating. More...
class	PriorityQueue
	priority queue for AdjacencyMapEntry More...
class	AdjacencyMapEntry
	data structure for loopuk during Dijkstra More...
class	VertexIDHashFunction
	hash function for a vertex More...

Public Types
typedef EstimatePropagatorCost	PropagateCost
typedef std::unordered_map< OptimizableGraph::Vertex *, AdjacencyMapEntry, VertexIDHashFunction >	AdjacencyMap

Public Member Functions
	EstimatePropagator (OptimizableGraph *g)
OptimizableGraph::VertexSet &	visited ()
AdjacencyMap &	adjacencyMap ()
OptimizableGraph *	graph ()
void	propagate (OptimizableGraph::Vertex *v, const EstimatePropagator::PropagateCost &cost, const EstimatePropagator::PropagateAction &action=PropagateAction(), double maxDistance=std::numeric_limits< double >::max(), double maxEdgeCost=std::numeric_limits< double >::max())
void	propagate (OptimizableGraph::VertexSet &vset, const EstimatePropagator::PropagateCost &cost, const EstimatePropagator::PropagateAction &action=PropagateAction(), double maxDistance=std::numeric_limits< double >::max(), double maxEdgeCost=std::numeric_limits< double >::max())

Protected Member Functions
void	reset ()

Protected Attributes
AdjacencyMap	_adjacencyMap
OptimizableGraph::VertexSet	_visited
OptimizableGraph *	_graph

Detailed Description

propagation of an initial guess

Definition at line 78 of file estimate_propagator.h.

Member Typedef Documentation

AdjacencyMap

typedef std::unordered_map<OptimizableGraph::Vertex*, AdjacencyMapEntry, VertexIDHashFunction> g2o::EstimatePropagator::AdjacencyMap

Definition at line 146 of file estimate_propagator.h.

PropagateCost

typedef EstimatePropagatorCost g2o::EstimatePropagator::PropagateCost

Definition at line 94 of file estimate_propagator.h.

Constructor & Destructor Documentation

EstimatePropagator()

g2o::EstimatePropagator::EstimatePropagator

(

OptimizableGraph *

g

)

Definition at line 65 of file estimate_propagator.cpp.

References _graph.

Member Function Documentation

adjacencyMap()

AdjacencyMap & g2o::EstimatePropagator::adjacencyMap ( )

inline

Definition at line 151 of file estimate_propagator.h.

References _adjacencyMap.

graph()

OptimizableGraph * g2o::EstimatePropagator::graph ( )

inline

Definition at line 152 of file estimate_propagator.h.

References _graph.

propagate() [1/2]

void g2o::EstimatePropagator::propagate	(	OptimizableGraph::Vertex *	v,
		const EstimatePropagator::PropagateCost &	cost,
		const EstimatePropagator::PropagateAction &	action = PropagateAction(),
		double	maxDistance = std::numeric_limits<double>::max(),
		double	maxEdgeCost = std::numeric_limits<double>::max() )

propagate an initial guess starting from v. The function computes a spanning tree whereas the cost for each edge is determined by calling cost() and the action applied to each vertex is action().

Definition at line 86 of file estimate_propagator.cpp.

References propagate().

Referenced by g2o::SparseOptimizer::computeInitialGuess(), and propagate().

propagate() [2/2]

void g2o::EstimatePropagator::propagate	(	OptimizableGraph::VertexSet &	vset,
		const EstimatePropagator::PropagateCost &	cost,
		const EstimatePropagator::PropagateAction &	action = PropagateAction(),
		double	maxDistance = std::numeric_limits<double>::max(),
		double	maxEdgeCost = std::numeric_limits<double>::max() )

same as above but starting to propagate from a set of vertices instead of just a single one.

Definition at line 95 of file estimate_propagator.cpp.

References _adjacencyMap, g2o::EstimatePropagator::AdjacencyMapEntry::_frontierLevel, _visited, g2o::EstimatePropagator::AdjacencyMapEntry::child(), g2o::EstimatePropagator::AdjacencyMapEntry::distance(), g2o::EstimatePropagator::AdjacencyMapEntry::edge(), g2o::HyperGraph::Vertex::edges(), G2O_DEBUG, g2o::HyperGraph::Vertex::id(), g2o::EstimatePropagator::AdjacencyMapEntry::parent(), g2o::EstimatePropagator::PriorityQueue::pop(), g2o::EstimatePropagator::PriorityQueue::push(), reset(), g2o::HyperGraph::Edge::vertex(), and g2o::HyperGraph::Edge::vertices().

reset()

void g2o::EstimatePropagator::reset ( )

protected

Definition at line 75 of file estimate_propagator.cpp.

References _adjacencyMap, and _visited.

Referenced by propagate().

visited()

OptimizableGraph::VertexSet & g2o::EstimatePropagator::visited ( )

inline

Definition at line 150 of file estimate_propagator.h.

References _visited.

Member Data Documentation

_adjacencyMap

AdjacencyMap g2o::EstimatePropagator::_adjacencyMap

protected

Definition at line 180 of file estimate_propagator.h.

Referenced by adjacencyMap(), propagate(), and reset().

_graph

OptimizableGraph* g2o::EstimatePropagator::_graph

protected

Definition at line 182 of file estimate_propagator.h.

Referenced by EstimatePropagator(), and graph().

_visited

OptimizableGraph::VertexSet g2o::EstimatePropagator::_visited

protected

Definition at line 181 of file estimate_propagator.h.

Referenced by propagate(), reset(), and visited().

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

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