g2o::ThetaTreeAction Class Reference

compute the initial guess of theta while traveling along the MST More...

Inheritance diagram for g2o::ThetaTreeAction:

Collaboration diagram for g2o::ThetaTreeAction:

Public Member Functions
	ThetaTreeAction (VectorX &theta)
virtual double	perform (HyperGraph::Vertex *v, HyperGraph::Vertex *vParent, HyperGraph::Edge *e)
Public Member Functions inherited from g2o::HyperDijkstra::TreeAction
virtual double	perform (HyperGraph::Vertex *v, HyperGraph::Vertex *vParent, HyperGraph::Edge *e, double distance)

Protected Attributes
VectorX &	_thetaGuess

Detailed Description

compute the initial guess of theta while traveling along the MST

Definition at line 48 of file solver_slam2d_linear.cpp.

Constructor & Destructor Documentation

ThetaTreeAction()

g2o::ThetaTreeAction::ThetaTreeAction ( VectorX & theta )

inlineexplicit

Definition at line 50 of file solver_slam2d_linear.cpp.

      : HyperDijkstra::TreeAction(), _thetaGuess(theta) {}

References _thetaGuess.

Member Function Documentation

perform()

virtual double g2o::ThetaTreeAction::perform ( HyperGraph::Vertex * v, HyperGraph::Vertex * vParent, HyperGraph::Edge * e )

inlinevirtual

Reimplemented from g2o::HyperDijkstra::TreeAction.

Definition at line 52 of file solver_slam2d_linear.cpp.

                                            {
    if (!vParent) return 0.;
    EdgeSE2* odom = static_cast<EdgeSE2*>(e);
    VertexSE2* from = static_cast<VertexSE2*>(vParent);
    VertexSE2* to = static_cast<VertexSE2*>(v);
    assert(to->hessianIndex() >= 0);
    double fromTheta =
        from->hessianIndex() < 0 ? 0. : _thetaGuess[from->hessianIndex()];
    bool direct = odom->vertices()[0] == from;
    if (direct)
      _thetaGuess[to->hessianIndex()] =
          fromTheta + odom->measurement().rotation().angle();
    else
      _thetaGuess[to->hessianIndex()] =
          fromTheta - odom->measurement().rotation().angle();
    return 1.;
  }

References _thetaGuess, g2o::OptimizableGraph::Vertex::hessianIndex(), g2o::BaseEdge< D, E >::measurement(), g2o::SE2::rotation(), and g2o::HyperGraph::Edge::vertices().

Member Data Documentation

_thetaGuess

VectorX& g2o::ThetaTreeAction::_thetaGuess

protected

Definition at line 72 of file solver_slam2d_linear.cpp.

Referenced by perform(), and ThetaTreeAction().

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

• /build/reproducible-path/g2o-0~20230806/g2o/solvers/slam2d_linear/solver_slam2d_linear.cpp