#include <g2o_slam_interface.h>

Inheritance diagram for g2o::G2oSlamInterface:

Collaboration diagram for g2o::G2oSlamInterface:

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Public Types
enum	SolveResult { SOLVED , SOLVED_BATCH , NOOP , ERROR }

Public Member Functions
	G2oSlamInterface (SparseOptimizerOnline *optimizer)
bool	addNode (const std::string &tag, int id, int dimension, const std::vector< double > &values)
bool	addEdge (const std::string &tag, int id, int dimension, int v1, int v2, const std::vector< double > &measurement, const std::vector< double > &information)
bool	fixNode (const std::vector< int > &nodes)
bool	queryState (const std::vector< int > &nodes)
bool	solveState ()
SolveResult	solve ()
int	updatedGraphEachN () const
void	setUpdateGraphEachN (int n)
int	batchSolveEachN () const
void	setBatchSolveEachN (int n)
SparseOptimizerOnline *	optimizer ()

Protected Member Functions
OptimizableGraph::Vertex *	addVertex (int dimension, int id)
bool	printVertex (OptimizableGraph::Vertex *v)

Protected Attributes
SparseOptimizerOnline *	_optimizer
bool	_firstOptimization
int	_nodesAdded
int	_incIterations
int	_updateGraphEachN
int	_batchEveryN
int	_lastBatchStep
bool	_initSolverDone
HyperGraph::VertexSet	_verticesAdded
HyperGraph::EdgeSet	_edgesAdded

Detailed Description

Definition at line 41 of file g2o_slam_interface.h.

Member Enumeration Documentation

◆ SolveResult

enum g2o::G2oSlamInterface::SolveResult

Enumerator
SOLVED
SOLVED_BATCH
NOOP
ERROR

Definition at line 44 of file g2o_slam_interface.h.

Constructor & Destructor Documentation

◆ G2oSlamInterface()

g2o::G2oSlamInterface::G2oSlamInterface ( SparseOptimizerOnline * optimizer )

Definition at line 107 of file g2o_slam_interface.cpp.

References _batchEveryN, _firstOptimization, _incIterations, _initSolverDone, _lastBatchStep, _nodesAdded, _optimizer, _updateGraphEachN, and optimizer().

Member Function Documentation

◆ addEdge()

bool g2o::G2oSlamInterface::addEdge	(	const std::string &	tag,
		int	id,
		int	dimension,
		int	v1,
		int	v2,
		const std::vector< double > &	measurement,
		const std::vector< double > &	information )

virtual

adding an edge to the SLAM engine.

Parameters

tag	the tag specifying the type of the vertex
id	the unique id of the edge.
dimension	the dimension of the edge.
v1	the unique id of the edge of the first vertex
v2	the unique id of the edge of the second vertex
measurement	the measurement of the constraint
information	the information matrix (inverse of the covariance) representing the uncertainty of the measurement (row-major upper triangular and diagonal)

Returns: true, if adding was successful

Implements SlamParser::AbstractSlamInterface.

Definition at line 133 of file g2o_slam_interface.cpp.

References __PRETTY_FUNCTION__, _edgesAdded, _nodesAdded, _optimizer, _verticesAdded, addVertex(), g2o::internal::fromVectorET(), g2o::internal::fromVectorQT(), g2o::HyperGraph::Vertex::id(), g2o::OnlineEdgeSE2::initialEstimate(), g2o::OnlineEdgeSE3::initialEstimate(), g2o::EdgeSE2::initialEstimatePossible(), g2o::EdgeSE3::initialEstimatePossible(), g2o::jac_quat3_euler3(), g2o::BaseEdge< D, E >::setInformation(), g2o::EdgeSE2::setMeasurement(), g2o::EdgeSE3::setMeasurement(), and g2o::HyperGraph::Edge::vertices().

Referenced by main().

◆ addNode()

bool g2o::G2oSlamInterface::addNode	(	const std::string &	tag,
		int	id,
		int	dimension,
		const std::vector< double > &	values )

virtual

adding a node to the SLAM engine.

Parameters

tag	the tag specifying the type of the vertex
id	the unique id of the node.
dimension	the dimension of the node.
values	the pose of the node, may be empty (i.e., the engine should initialize the node itself)

Returns: true, if adding was successful

Implements SlamParser::AbstractSlamInterface.

Definition at line 117 of file g2o_slam_interface.cpp.

References _batchEveryN, _initSolverDone, and _optimizer.

Referenced by main().

◆ addVertex()

OptimizableGraph::Vertex * g2o::G2oSlamInterface::addVertex	(	int	dimension,
		int	id )

protected

Definition at line 369 of file g2o_slam_interface.cpp.

References _optimizer, and g2o::OptimizableGraph::Vertex::setId().

Referenced by addEdge().

◆ batchSolveEachN()

int g2o::G2oSlamInterface::batchSolveEachN ( ) const

inline

Definition at line 67 of file g2o_slam_interface.h.

References _batchEveryN.

◆ fixNode()

bool g2o::G2oSlamInterface::fixNode ( const std::vector< int > & nodes )

virtual

set some nodes to a fixed position

Parameters

nodes the list of vertex IDs to fix

Returns: true, if successful

Implements SlamParser::AbstractSlamInterface.

Definition at line 332 of file g2o_slam_interface.cpp.

References _optimizer, and g2o::OptimizableGraph::Vertex::setFixed().

◆ optimizer()

SparseOptimizerOnline * g2o::G2oSlamInterface::optimizer ( )

inline

Definition at line 70 of file g2o_slam_interface.h.

References _optimizer.

Referenced by G2oSlamInterface(), and solveAndPrint().

◆ printVertex()

bool g2o::G2oSlamInterface::printVertex ( OptimizableGraph::Vertex * v )

protected

Definition at line 385 of file g2o_slam_interface.cpp.

References g2o::OptimizableGraph::Vertex::dimension(), g2o::HyperGraph::Vertex::id(), modp_dtoa(), modp_itoa10(), g2o::SE2::rotation(), g2o::internal::toEuler(), g2o::SE2::translation(), g2o::OnlineVertexSE2::updatedEstimate, and g2o::OnlineVertexSE3::updatedEstimate.

Referenced by queryState().

◆ queryState()

bool g2o::G2oSlamInterface::queryState ( const std::vector< int > & nodes )

virtual

Ask the SLAM engine to print the current estimate of the variables

Parameters

nodes the list of vertex IDs to print, if empty print all variables

Returns: true, if successful

Implements SlamParser::AbstractSlamInterface.

Definition at line 340 of file g2o_slam_interface.cpp.

References _optimizer, and printVertex().

◆ setBatchSolveEachN()

void g2o::G2oSlamInterface::setBatchSolveEachN ( int n )

Definition at line 469 of file g2o_slam_interface.cpp.

References _batchEveryN.

Referenced by main().

◆ setUpdateGraphEachN()

void g2o::G2oSlamInterface::setUpdateGraphEachN ( int n )

Definition at line 433 of file g2o_slam_interface.cpp.

References _updateGraphEachN.

Referenced by main().

◆ solve()

G2oSlamInterface::SolveResult g2o::G2oSlamInterface::solve ( )

Definition at line 435 of file g2o_slam_interface.cpp.

References _batchEveryN, _edgesAdded, _firstOptimization, _incIterations, _lastBatchStep, _nodesAdded, _optimizer, _updateGraphEachN, _verticesAdded, ERROR, NOOP, SOLVED, and SOLVED_BATCH.

Referenced by solveAndPrint(), and solveState().

◆ solveState()

bool g2o::G2oSlamInterface::solveState ( )

virtual

ask the engine to solve

Returns: true, if successful

Implements SlamParser::AbstractSlamInterface.

Definition at line 364 of file g2o_slam_interface.cpp.

References ERROR, and solve().

◆ updatedGraphEachN()

int g2o::G2oSlamInterface::updatedGraphEachN ( ) const

inline

Definition at line 64 of file g2o_slam_interface.h.

References _updateGraphEachN.

Member Data Documentation

◆ _batchEveryN

int g2o::G2oSlamInterface::_batchEveryN

protected

Definition at line 78 of file g2o_slam_interface.h.

Referenced by addNode(), batchSolveEachN(), G2oSlamInterface(), setBatchSolveEachN(), and solve().

◆ _edgesAdded

HyperGraph::EdgeSet g2o::G2oSlamInterface::_edgesAdded

protected

Definition at line 83 of file g2o_slam_interface.h.

Referenced by addEdge(), and solve().

◆ _firstOptimization

bool g2o::G2oSlamInterface::_firstOptimization

protected

Definition at line 74 of file g2o_slam_interface.h.

Referenced by G2oSlamInterface(), and solve().

◆ _incIterations

int g2o::G2oSlamInterface::_incIterations

protected

Definition at line 76 of file g2o_slam_interface.h.

Referenced by G2oSlamInterface(), and solve().

◆ _initSolverDone

bool g2o::G2oSlamInterface::_initSolverDone

protected

Definition at line 80 of file g2o_slam_interface.h.

Referenced by addNode(), and G2oSlamInterface().

◆ _lastBatchStep

int g2o::G2oSlamInterface::_lastBatchStep

protected

Definition at line 79 of file g2o_slam_interface.h.

Referenced by G2oSlamInterface(), and solve().

◆ _nodesAdded

int g2o::G2oSlamInterface::_nodesAdded

protected

Definition at line 75 of file g2o_slam_interface.h.

Referenced by addEdge(), G2oSlamInterface(), and solve().

◆ _optimizer

SparseOptimizerOnline* g2o::G2oSlamInterface::_optimizer

protected

Definition at line 73 of file g2o_slam_interface.h.

Referenced by addEdge(), addNode(), addVertex(), fixNode(), G2oSlamInterface(), optimizer(), queryState(), and solve().

◆ _updateGraphEachN

int g2o::G2oSlamInterface::_updateGraphEachN

protected

Definition at line 77 of file g2o_slam_interface.h.

Referenced by G2oSlamInterface(), setUpdateGraphEachN(), solve(), and updatedGraphEachN().

◆ _verticesAdded

HyperGraph::VertexSet g2o::G2oSlamInterface::_verticesAdded

protected

Definition at line 82 of file g2o_slam_interface.h.

Referenced by addEdge(), and solve().

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

/build/reproducible-path/g2o-0~20230806/g2o/examples/interactive_slam/g2o_interactive/g2o_slam_interface.h
/build/reproducible-path/g2o-0~20230806/g2o/examples/interactive_slam/g2o_interactive/g2o_slam_interface.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ SolveResult

Constructor & Destructor Documentation

◆ G2oSlamInterface()

Member Function Documentation

◆ addEdge()

◆ addNode()

◆ addVertex()

◆ batchSolveEachN()

◆ fixNode()

◆ optimizer()

◆ printVertex()

◆ queryState()

◆ setBatchSolveEachN()

◆ setUpdateGraphEachN()

◆ solve()

◆ solveState()

◆ updatedGraphEachN()

Member Data Documentation

◆ _batchEveryN

◆ _edgesAdded

◆ _firstOptimization

◆ _incIterations

◆ _initSolverDone

◆ _lastBatchStep

◆ _nodesAdded

◆ _optimizer

◆ _updateGraphEachN

◆ _verticesAdded