g2o::OnlineVertexSE3 Class Reference
#include <types_slam3d_online.h>
Inheritance diagram for g2o::OnlineVertexSE3:
Collaboration diagram for g2o::OnlineVertexSE3:
Public Member Functions | |
| OnlineVertexSE3 () | |
| virtual void | oplusImpl (const double *update) |
| void | oplusUpdatedEstimate (double *update) |
| Public Member Functions inherited from g2o::VertexSE3 | |
| VertexSE3 () | |
| virtual void | setToOriginImpl () |
| sets the node to the origin (used in the multilevel stuff) | |
| virtual bool | read (std::istream &is) |
| read the vertex from a stream, i.e., the internal state of the vertex | |
| virtual bool | write (std::ostream &os) const |
| write the vertex to a stream | |
| virtual bool | setEstimateDataImpl (const double *est) |
| virtual bool | getEstimateData (double *est) const |
| virtual int | estimateDimension () const |
| virtual bool | setMinimalEstimateDataImpl (const double *est) |
| virtual bool | getMinimalEstimateData (double *est) const |
| virtual int | minimalEstimateDimension () const |
| SE3Quat | G2O_ATTRIBUTE_DEPRECATED (estimateAsSE3Quat() const) |
| wrapper function to use the old SE3 type | |
| void | G2O_ATTRIBUTE_DEPRECATED (setEstimateFromSE3Quat(const SE3Quat &se3)) |
| wrapper function to use the old SE3 type | |
| Public Member Functions inherited from g2o::BaseVertex< 6, Isometry3 > | |
| BaseVertex () | |
| BaseVertex & | operator= (const BaseVertex &)=delete |
| virtual const double & | hessian (int i, int j) const |
| get the element from the hessian matrix | |
| virtual double | hessianDeterminant () const |
| virtual double * | hessianData () |
| virtual void | mapHessianMemory (double *d) |
| virtual int | copyB (double *b_) const |
| virtual const double & | b (int i) const |
| get the b vector element | |
| virtual double * | bData () |
| return a pointer to the b vector associated with this vertex | |
| virtual void | clearQuadraticForm () |
| virtual double | solveDirect (double lambda=0) |
| HessianBlockType & | A () |
| return the hessian block associated with the vertex | |
| virtual void | push () |
| backup the position of the vertex to a stack | |
| virtual void | pop () |
| virtual void | discardTop () |
| virtual int | stackSize () const |
| return the stack size | |
| const EstimateType & | estimate () const |
| return the current estimate of the vertex | |
| void | setEstimate (const EstimateType &et) |
| set the estimate for the vertex also calls updateCache() | |
| Public Member Functions inherited from g2o::OptimizableGraph::Vertex | |
| Vertex () | |
| virtual | ~Vertex () |
| void | setToOrigin () |
| sets the node to the origin (used in the multilevel stuff) | |
| virtual double & | hessian (int i, int j)=0 |
| virtual double & | b (int i)=0 |
| bool | setEstimateData (const double *estimate) |
| bool | setEstimateData (const std::vector< double > &estimate) |
| template<typename Derived> | |
| bool | setEstimateData (const Eigen::MatrixBase< Derived > &estimate) |
| virtual bool | getEstimateData (std::vector< double > &estimate) const |
| template<typename Derived> | |
| bool | getEstimateData (Eigen::MatrixBase< Derived > &estimate) const |
| bool | setMinimalEstimateData (const double *estimate) |
| bool | setMinimalEstimateData (const std::vector< double > &estimate) |
| template<typename Derived> | |
| bool | setMinimalEstimateData (const Eigen::MatrixBase< Derived > &estimate) |
| virtual bool | getMinimalEstimateData (std::vector< double > &estimate) const |
| template<typename Derived> | |
| bool | getMinimalEstimateData (Eigen::MatrixBase< Derived > &estimate) const |
| void | oplus (const double *v) |
| int | hessianIndex () const |
| int | G2O_ATTRIBUTE_DEPRECATED (tempIndex() const) |
| void | setHessianIndex (int ti) |
| set the temporary index of the vertex in the parameter blocks | |
| void | G2O_ATTRIBUTE_DEPRECATED (setTempIndex(int ti)) |
| bool | fixed () const |
| true => this node is fixed during the optimization | |
| void | setFixed (bool fixed) |
| true => this node should be considered fixed during the optimization | |
| bool | marginalized () const |
| true => this node is marginalized out during the optimization | |
| void | setMarginalized (bool marginalized) |
| true => this node should be marginalized out during the optimization | |
| int | dimension () const |
| dimension of the estimated state belonging to this node | |
| virtual void | setId (int id) |
| void | setColInHessian (int c) |
| set the row of this vertex in the Hessian | |
| int | colInHessian () const |
| get the row of this vertex in the Hessian | |
| const OptimizableGraph * | graph () const |
| OptimizableGraph * | graph () |
| void | lockQuadraticForm () |
| void | unlockQuadraticForm () |
| virtual void | updateCache () |
| CacheContainer * | cacheContainer () |
| Public Member Functions inherited from g2o::HyperGraph::Vertex | |
| Vertex (int id=InvalidId) | |
| creates a vertex having an ID specified by the argument | |
| int | id () const |
| returns the id | |
| const EdgeSet & | edges () const |
| returns the set of hyper-edges that are leaving/entering in this vertex | |
| EdgeSet & | edges () |
| returns the set of hyper-edges that are leaving/entering in this vertex | |
| virtual HyperGraphElementType | elementType () 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) |
Public Attributes | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | |
| VertexSE3::EstimateType | updatedEstimate |
| Public Attributes inherited from g2o::VertexSE3 | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | |
Additional Inherited Members | |
| Public Types inherited from g2o::BaseVertex< 6, Isometry3 > | |
| using | EstimateType |
| using | BackupStackType |
| using | HessianBlockType |
| Static Public Attributes inherited from g2o::VertexSE3 | |
| static const int | orthogonalizeAfter |
| Static Public Attributes inherited from g2o::BaseVertex< 6, Isometry3 > | |
| static const int | Dimension |
| dimension of the estimate (minimal) in the manifold space | |
| Protected Attributes inherited from g2o::VertexSE3 | |
| int | _numOplusCalls |
| Protected Attributes inherited from g2o::BaseVertex< 6, Isometry3 > | |
| HessianBlockType | _hessian |
| Eigen::Matrix< double, D, 1, Eigen::ColMajor > | _b |
| EstimateType | _estimate |
| BackupStackType | _backup |
| Protected Attributes inherited from g2o::OptimizableGraph::Vertex | |
| OptimizableGraph * | _graph |
| Data * | _userData |
| int | _hessianIndex |
| bool | _fixed |
| bool | _marginalized |
| int | _dimension |
| int | _colInHessian |
| OpenMPMutex | _quadraticFormMutex |
| CacheContainer * | _cacheContainer |
| Protected Attributes inherited from g2o::HyperGraph::Vertex | |
| int | _id |
| EdgeSet | _edges |
| Protected Attributes inherited from g2o::HyperGraph::DataContainer | |
| Data * | _userData |
Detailed Description
Definition at line 37 of file types_slam3d_online.h.
Constructor & Destructor Documentation
◆ OnlineVertexSE3()
|
inline |
Definition at line 40 of file types_slam3d_online.h.
References updatedEstimate, and g2o::VertexSE3::VertexSE3().
Member Function Documentation
◆ oplusImpl()
|
inlinevirtual |
update the position of this vertex. The update is in the form (x,y,z,qx,qy,qz) whereas (x,y,z) represents the translational update and (qx,qy,qz) corresponds to the respective elements. The missing element qw of the quaternion is recovred by || (qw,qx,qy,qz) || == 1 => qw = sqrt(1 - || (qx,qy,qz) ||
Reimplemented from g2o::VertexSE3.
Definition at line 43 of file types_slam3d_online.h.
References g2o::BaseVertex< 6, Isometry3 >::_estimate, g2o::VertexSE3::oplusImpl(), and updatedEstimate.
◆ oplusUpdatedEstimate()
|
inline |
Definition at line 48 of file types_slam3d_online.h.
References g2o::BaseVertex< 6, Isometry3 >::_estimate, g2o::internal::fromVectorMQT(), and updatedEstimate.
Referenced by g2o::SparseOptimizerOnline::update().
Member Data Documentation
◆ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
| g2o::OnlineVertexSE3::EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
Definition at line 39 of file types_slam3d_online.h.
◆ updatedEstimate
| VertexSE3::EstimateType g2o::OnlineVertexSE3::updatedEstimate |
Definition at line 54 of file types_slam3d_online.h.
Referenced by g2o::SparseOptimizerOnline::gnuplotVisualization(), g2o::OnlineEdgeSE3::initialEstimate(), OnlineVertexSE3(), oplusImpl(), oplusUpdatedEstimate(), g2o::SparseOptimizerIncremental::optimize(), g2o::SparseOptimizerOnline::optimize(), and g2o::G2oSlamInterface::printVertex().
The documentation for this class was generated from the following file:
- /build/reproducible-path/g2o-0~20230806/g2o/examples/interactive_slam/g2o_interactive/types_slam3d_online.h
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