base_dynamic_vertex.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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#ifndef G2O_BASE_DYNAMIC_VERTEX_H
#define G2O_BASE_DYNAMIC_VERTEX_H
 
#include <cassert>
 
#include "base_vertex.h"
 
namespace g2o {
template <typename T>
class BaseDynamicVertex : public BaseVertex<-1, T> {
 public:
  inline virtual bool setDimension(int newDimension);
 
 protected:
  // This method is responsible for actually changing the dimension of the state
  virtual bool setDimensionImpl(int newDimension) = 0;
 
  using BaseVertex<-1, T>::_graph;
  using BaseVertex<-1, T>::_dimension;
  using BaseVertex<-1, T>::_b;
  using BaseVertex<-1, T>::_edges;
  using BaseVertex<-1, T>::setHessianIndex;
  using BaseVertex<-1, T>::mapHessianMemory;
  using BaseVertex<-1, T>::updateCache;
};
 
template <typename T>
bool BaseDynamicVertex<T>::setDimension(int newDimension) {
  // Check the dimension is non-negative.
  assert(newDimension >= 0);
  if (newDimension < 0) return false;
 
  // Nothing to do if the dimension is unchanged.
  if (newDimension == _dimension) return true;
 
  // Change the state to the requested dimension
  if (setDimensionImpl(newDimension) == false) return false;
 
  // Store the old dimension and assign the new
  int oldDimension = _dimension;
  _dimension = newDimension;
 
  // Reset the allocation associated with this vertex and update the cache
  setHessianIndex(-1);
  mapHessianMemory(nullptr);
  _b.resize(_dimension);
  updateCache();
 
  // If the dimension is being increased and this vertex is in a
  // graph, update the size of the Jacobian workspace just in case it
  // needs to grow.
  if ((newDimension > oldDimension) && (_graph != nullptr)) {
    JacobianWorkspace& jacobianWorkspace = _graph->jacobianWorkspace();
    for (auto e : _edges) jacobianWorkspace.updateSize(e);
  }
 
  return true;
}
 
}  // namespace g2o
#endif