#include <optimizable_graph.h>

Inheritance diagram for g2o::OptimizableGraph::Edge:

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Collaboration diagram for g2o::OptimizableGraph::Edge:

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Public Member Functions
	Edge ()
virtual	~Edge ()
virtual bool	allVerticesFixed () const =0
virtual void	computeError ()=0
virtual bool	setMeasurementData (const double *m)
virtual bool	getMeasurementData (double *m) const
virtual int	measurementDimension () const
virtual bool	setMeasurementFromState ()
RobustKernel *	robustKernel () const
	if NOT NULL, error of this edge will be robustifed with the kernel
void	setRobustKernel (RobustKernel *ptr)
virtual const double *	errorData () const =0
	returns the error vector cached after calling the computeError;
virtual double *	errorData ()=0
virtual const double *	informationData () const =0
virtual double *	informationData ()=0
virtual double	chi2 () const =0
virtual void	constructQuadraticForm ()=0
virtual void	mapHessianMemory (double *d, int i, int j, bool rowMajor)=0
virtual void	linearizeOplus (JacobianWorkspace &jacobianWorkspace)=0
virtual void	initialEstimate (const OptimizableGraph::VertexSet &from, OptimizableGraph::Vertex *to)=0
virtual double	initialEstimatePossible (const OptimizableGraph::VertexSet &from, OptimizableGraph::Vertex *to)
int	level () const
	returns the level of the edge
void	setLevel (int l)
	sets the level of the edge
int	dimension () const
	returns the dimensions of the error function
	G2O_ATTRIBUTE_DEPRECATED (virtual Vertex *createFrom())
	G2O_ATTRIBUTE_DEPRECATED (virtual Vertex *createTo())
virtual Vertex *	createVertex (int)
virtual bool	read (std::istream &is)=0
	read the vertex from a stream, i.e., the internal state of the vertex
virtual bool	write (std::ostream &os) const =0
	write the vertex to a stream
long long	internalId () const
	the internal ID of the edge
OptimizableGraph *	graph ()
const OptimizableGraph *	graph () const
bool	setParameterId (int argNum, int paramId)
const Parameter *	parameter (int argNo) const
size_t	numParameters () const
void	resizeParameters (size_t newSize)
Public Member Functions inherited from g2o::HyperGraph::Edge
	Edge (int id=InvalidId)
	creates and empty edge with no vertices
virtual void	resize (size_t size)
const VertexContainer &	vertices () const
VertexContainer &	vertices ()
const Vertex *	vertex (size_t i) const
Vertex *	vertex (size_t i)
void	setVertex (size_t i, Vertex *v)
int	id () const
void	setId (int id)
virtual HyperGraphElementType	elementType () const
int	numUndefinedVertices () 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)

Protected Member Functions
template<typename ParameterType>
bool	installParameter (ParameterType *&p, size_t argNo, int paramId=-1)
template<typename CacheType>
void	resolveCache (CacheType &cache, OptimizableGraph::Vertex , const std::string &_type, const ParameterVector &parameters)
bool	resolveParameters ()
virtual bool	resolveCaches ()

Protected Attributes
int	_dimension
int	_level
RobustKernel *	_robustKernel
long long	_internalId
std::vector< int >	_cacheIds
std::vector< std::string >	_parameterTypes
std::vector< Parameter ** >	_parameters
std::vector< int >	_parameterIds
Protected Attributes inherited from g2o::HyperGraph::Edge
VertexContainer	_vertices
int	_id
	unique id
Protected Attributes inherited from g2o::HyperGraph::DataContainer
Data *	_userData

Friends
struct	OptimizableGraph

Detailed Description

Definition at line 416 of file optimizable_graph.h.

Constructor & Destructor Documentation

◆ Edge()

g2o::OptimizableGraph::Edge::Edge ( )

Definition at line 105 of file optimizable_graph.cpp.

106 : HyperGraph::Edge(), _dimension(-1), _level(0), _robustKernel(nullptr) {}

g2o::HyperGraph::Edge

class G2O_CORE_API Edge

Definition hyper_graph.h:75

g2o::OptimizableGraph::Edge::_dimension

int _dimension

Definition optimizable_graph.h:547

g2o::OptimizableGraph::Edge::_level

int _level

Definition optimizable_graph.h:548

g2o::OptimizableGraph::Edge::_robustKernel

RobustKernel * _robustKernel

Definition optimizable_graph.h:549

References _dimension, _level, _robustKernel, Edge(), and g2o::HyperGraph::HyperGraph().

Referenced by g2o::Measurement< D, E >::BaseEdge(), Edge(), and OptimizableGraph.

◆ ~Edge()

g2o::OptimizableGraph::Edge::~Edge ( )

virtual

Reimplemented from g2o::HyperGraph::Edge.

Definition at line 108 of file optimizable_graph.cpp.

108{ release(_robustKernel); }

g2o::release

void release(T *obj)

Definition ownership.h:8

References _robustKernel, and g2o::release().

Member Function Documentation

◆ allVerticesFixed()

virtual bool g2o::OptimizableGraph::Edge::allVerticesFixed ( ) const

pure virtual

Referenced by g2o::SparseOptimizer::initializeOptimization(), and g2o::SparseOptimizer::updateInitialization().

◆ chi2()

virtual double g2o::OptimizableGraph::Edge::chi2 ( ) const

pure virtual

computes the chi2 based on the cached error value, only valid after computeError has been called.

Referenced by g2o::SparseOptimizer::activeChi2(), g2o::SparseOptimizer::activeRobustChi2(), g2o::activeVertexChi(), g2o::StructureOnlySolver< PointDoF >::calc(), g2o::OptimizableGraph::chi2(), gnudump_edges(), gnudump_features(), main(), and InvChi2CostFunction::operator()().

◆ computeError()

virtual void g2o::OptimizableGraph::Edge::computeError ( )

pure virtual

Implemented in EdgeCalib, g2o::Edge_V_V_GICP, g2o::Edge_XYZ_VSC, g2o::EdgeInverseSim3ProjectXYZ, g2o::EdgeLine2D, g2o::EdgeLine2DPointXY, g2o::EdgePlane, g2o::EdgePointXY, g2o::EdgePointXYZ, g2o::EdgeProjectP2MC, g2o::EdgeProjectP2SC, g2o::EdgeProjectPSI2UV, g2o::EdgeProjectXYZ2UV, g2o::EdgeProjectXYZ2UVU, g2o::EdgeSBACam, g2o::EdgeSBAScale, g2o::EdgeSE2, g2o::EdgeSE2Line2D, g2o::EdgeSE2LotsOfXY, g2o::EdgeSE2OdomDifferentialCalib, g2o::EdgeSE2Offset, g2o::EdgeSE2PointXY, g2o::EdgeSE2PointXYBearing, g2o::EdgeSE2PointXYCalib, g2o::EdgeSE2PointXYOffset, g2o::EdgeSE2Prior, g2o::EdgeSE2PureCalib, g2o::EdgeSE2Segment2D, g2o::EdgeSE2Segment2DLine, g2o::EdgeSE2Segment2DPointLine, g2o::EdgeSE2SensorCalib, g2o::EdgeSE2TwoPointsXY, g2o::EdgeSE2XYPrior, g2o::EdgeSE3, g2o::EdgeSE3Calib, g2o::EdgeSE3Expmap, g2o::EdgeSE3Line3D, g2o::EdgeSE3LotsOfXYZ, g2o::EdgeSE3Offset, g2o::EdgeSE3PlaneSensorCalib, g2o::EdgeSE3PointXYZ, g2o::EdgeSE3PointXYZDepth, g2o::EdgeSE3PointXYZDisparity, g2o::EdgeSE3Prior, g2o::EdgeSE3ProjectXYZ, g2o::EdgeSE3ProjectXYZOnlyPose, g2o::EdgeSE3XYZPrior, g2o::EdgeSim3, g2o::EdgeSim3ProjectXYZ, g2o::EdgeStereoSE3ProjectXYZ, g2o::EdgeStereoSE3ProjectXYZOnlyPose, g2o::EdgeXYPrior, g2o::EdgeXYZPrior, g2o::tutorial::EdgeSE2, g2o::tutorial::EdgeSE2PointXY, GPSObservationEdgePositionVelocity3D, GPSObservationPosition3DEdge, MultipleValueEdge, PolynomialSingleValueEdge, and TargetOdometry3DEdge.

References getMeasurementData(), measurementDimension(), setMeasurementData(), and setMeasurementFromState().

Referenced by g2o::StructureOnlySolver< PointDoF >::calc(), g2o::SparseOptimizer::computeActiveErrors(), gnudump_edges(), gnudump_features(), g2o::EdgeLabeler::labelEdge(), g2o::BaseFixedSizedEdge< D, OdomAndLaserMotion, VertexSE2, VertexBaseline >::linearizeOplusN(), main(), g2o::BaseFixedSizedEdge< D, OdomAndLaserMotion, VertexSE2, VertexBaseline >::mapHessianMemory(), g2o::BaseVariableSizedEdge<-1, VectorX >::mapHessianMemory(), InvChi2CostFunction::operator()(), g2o::SparseOptimizerOnline::optimize(), and g2o::SparseOptimizerIncremental::updateInitialization().

◆ constructQuadraticForm()

virtual void g2o::OptimizableGraph::Edge::constructQuadraticForm ( )

pure virtual

Linearizes the constraint in the edge. Makes side effect on the vertices of the graph by changing the parameter vector b and the hessian blocks ii and jj. The off diagoinal block is accessed via _hessian.

Referenced by g2o::BlockSolver< Traits >::buildSystem(), g2o::StructureOnlySolver< PointDoF >::calc(), g2o::SparseOptimizerOnline::optimize(), and g2o::SparseOptimizerIncremental::updateInitialization().

◆ createVertex()

virtual Vertex * g2o::OptimizableGraph::Edge::createVertex ( int )

inlinevirtual

Definition at line 522 of file optimizable_graph.h.

522{ return nullptr; }

◆ dimension()

int g2o::OptimizableGraph::Edge::dimension ( ) const

inline

returns the dimensions of the error function

Definition at line 518 of file optimizable_graph.h.

518{ return _dimension; }

References _dimension.

Referenced by g2o::BlockSolver< Traits >::buildSystem(), g2o::SparseOptimizer::computeActiveErrors(), g2o::SparseOptimizer::gaugeFreedom(), g2o::EdgeLabeler::labelEdge(), g2o::BaseFixedSizedEdge< D, OdomAndLaserMotion, VertexSE2, VertexBaseline >::linearizeOplus_allocate(), g2o::JacobianWorkspace::updateSize(), and g2o::OptimizableGraph::verifyInformationMatrices().

◆ errorData() [1/2]

virtual const double * g2o::OptimizableGraph::Edge::errorData ( ) const

pure virtual

returns the error vector cached after calling the computeError;

Referenced by g2o::SparseOptimizer::computeActiveErrors(), and g2o::EdgeLabeler::labelEdge().

◆ errorData() [2/2]

virtual double * g2o::OptimizableGraph::Edge::errorData ( )

pure virtual

Implemented in g2o::BaseEdge< D, E >, g2o::ErrorVector< D, E >, g2o::InformationType< D, E >, and g2o::Measurement< D, E >.

◆ G2O_ATTRIBUTE_DEPRECATED() [1/2]

g2o::OptimizableGraph::Edge::G2O_ATTRIBUTE_DEPRECATED ( virtual Vertex * createFrom() )

inline

Definition at line 520 of file optimizable_graph.h.

520{ return nullptr; }

◆ G2O_ATTRIBUTE_DEPRECATED() [2/2]

g2o::OptimizableGraph::Edge::G2O_ATTRIBUTE_DEPRECATED ( virtual Vertex * createTo() )

inline

Definition at line 521 of file optimizable_graph.h.

521{ return nullptr; }

◆ getMeasurementData()

bool g2o::OptimizableGraph::Edge::getMeasurementData ( double * m ) const

virtual

writes the measurement to an array of double

Returns: true on success

Reimplemented in g2o::EdgeLine2D, g2o::EdgeLine2DPointXY, g2o::EdgePlane, g2o::EdgePointXY, g2o::EdgePointXYZ, g2o::EdgeSBACam, g2o::EdgeSE2, g2o::EdgeSE2Line2D, g2o::EdgeSE2Offset, g2o::EdgeSE2PointXY, g2o::EdgeSE2PointXYBearing, g2o::EdgeSE2PointXYOffset, g2o::EdgeSE2Prior, g2o::EdgeSE2Segment2D, g2o::EdgeSE2Segment2DLine, g2o::EdgeSE2Segment2DPointLine, g2o::EdgeSE2XYPrior, g2o::EdgeSE3, g2o::EdgeSE3Line3D, g2o::EdgeSE3PointXYZ, g2o::EdgeSE3PointXYZDepth, g2o::EdgeSE3PointXYZDisparity, g2o::EdgeSE3Prior, g2o::EdgeSE3XYZPrior, g2o::EdgeXYPrior, and g2o::EdgeXYZPrior.

Definition at line 167 of file optimizable_graph.cpp.

167{ return false; }

Referenced by computeError().

◆ graph() [1/2]

OptimizableGraph * g2o::OptimizableGraph::Edge::graph ( )

Definition at line 110 of file optimizable_graph.cpp.

                                              {
  if (!_vertices.size()) return nullptr;
  OptimizableGraph::Vertex* v = (OptimizableGraph::Vertex*)_vertices[0];
  if (!v) return nullptr;
  return v->graph();
}

References g2o::HyperGraph::Edge::_vertices, g2o::OptimizableGraph::Vertex::graph(), and OptimizableGraph.

Referenced by g2o::OptimizableGraph::addEdge(), and resolveParameters().

◆ graph() [2/2]

const OptimizableGraph * g2o::OptimizableGraph::Edge::graph ( ) const

Definition at line 117 of file optimizable_graph.cpp.

                                                          {
  if (!_vertices.size()) return nullptr;
  const OptimizableGraph::Vertex* v =
      (const OptimizableGraph::Vertex*)_vertices[0];
  if (!v) return nullptr;
  return v->graph();
}

References g2o::HyperGraph::Edge::_vertices, g2o::OptimizableGraph::Vertex::graph(), and OptimizableGraph.

◆ informationData() [1/2]

virtual const double * g2o::OptimizableGraph::Edge::informationData ( ) const

pure virtual

returns the memory of the information matrix, usable for example with a Eigen::Map<MatrixX>

Referenced by g2o::EdgeLabeler::labelEdge(), and g2o::OptimizableGraph::verifyInformationMatrices().

◆ informationData() [2/2]

virtual double * g2o::OptimizableGraph::Edge::informationData ( )

pure virtual

Implemented in g2o::BaseEdge< D, E >, g2o::ErrorVector< D, E >, g2o::InformationType< D, E >, and g2o::Measurement< D, E >.

◆ initialEstimate()

virtual void g2o::OptimizableGraph::Edge::initialEstimate	(	const OptimizableGraph::VertexSet &	from,
		OptimizableGraph::Vertex *	to )

pure virtual

set the estimate of the to vertex, based on the estimate of the from vertices in the edge.

Referenced by g2o::SparseOptimizer::computeInitialGuess(), and g2o::EstimatePropagator::PropagateAction::operator()().

◆ initialEstimatePossible()

virtual double g2o::OptimizableGraph::Edge::initialEstimatePossible	(	const OptimizableGraph::VertexSet &	from,
		OptimizableGraph::Vertex *	to )

inlinevirtual

override in your class if it's possible to initialize the vertices in certain combinations. The return value may correspond to the cost for initiliaizng the vertex but should be positive if the initialization is possible and negative if not possible.

Reimplemented in g2o::EdgeLine2D, g2o::EdgePointXY, g2o::EdgePointXYZ, g2o::EdgeSBACam, g2o::EdgeSBAScale, g2o::EdgeSE2, g2o::EdgeSE2Line2D, g2o::EdgeSE2LotsOfXY, g2o::EdgeSE2Offset, g2o::EdgeSE2PointXY, g2o::EdgeSE2PointXYBearing, g2o::EdgeSE2PointXYCalib, g2o::EdgeSE2PointXYOffset, g2o::EdgeSE2Prior, g2o::EdgeSE2Segment2D, g2o::EdgeSE2SensorCalib, g2o::EdgeSE2TwoPointsXY, g2o::EdgeSE3, g2o::EdgeSE3LotsOfXYZ, g2o::EdgeSE3Offset, g2o::EdgeSE3PointXYZ, g2o::EdgeSE3PointXYZDepth, g2o::EdgeSE3PointXYZDisparity, g2o::EdgeSE3Prior, g2o::EdgeSE3XYZPrior, g2o::EdgeSim3, g2o::EdgeXYPrior, g2o::EdgeXYZPrior, and TargetOdometry3DEdge.

Definition at line 505 of file optimizable_graph.h.

                                                                           {
      (void)from;
      (void)to;
      return -1.;
    }

Referenced by g2o::SparseOptimizer::computeInitialGuess(), g2o::EstimatePropagatorCost::operator()(), and g2o::EstimatePropagatorCostOdometry::operator()().

◆ installParameter()

template<typename ParameterType>

bool g2o::OptimizableGraph::Edge::installParameter	(	ParameterType *&	p,
		size_t	argNo,
		int	paramId = -1 )

inlineprotected

Definition at line 554 of file optimizable_graph.h.

                                                                           {
      if (argNo >= _parameters.size()) return false;
      _parameterIds[argNo] = paramId;
      _parameters[argNo] = (Parameter**)&p;
      _parameterTypes[argNo] = typeid(ParameterType).name();
      return true;
    }

References _parameterIds, _parameters, and _parameterTypes.

Referenced by g2o::EdgeProjectPSI2UV::EdgeProjectPSI2UV(), g2o::EdgeProjectXYZ2UV::EdgeProjectXYZ2UV(), g2o::EdgeProjectXYZ2UVU::EdgeProjectXYZ2UVU(), g2o::EdgeSE2Offset::EdgeSE2Offset(), g2o::tutorial::EdgeSE2PointXY::EdgeSE2PointXY(), g2o::EdgeSE2PointXYOffset::EdgeSE2PointXYOffset(), g2o::EdgeSE3Line3D::EdgeSE3Line3D(), g2o::EdgeSE3Offset::EdgeSE3Offset(), g2o::EdgeSE3PointXYZ::EdgeSE3PointXYZ(), g2o::EdgeSE3PointXYZDepth::EdgeSE3PointXYZDepth(), g2o::EdgeSE3PointXYZDisparity::EdgeSE3PointXYZDisparity(), g2o::EdgeSE3Prior::EdgeSE3Prior(), and g2o::EdgeSE3XYZPrior::EdgeSE3XYZPrior().

◆ internalId()

long long g2o::OptimizableGraph::Edge::internalId ( ) const

inline

the internal ID of the edge

Definition at line 530 of file optimizable_graph.h.

530{ return _internalId; }

g2o::OptimizableGraph::Edge::_internalId

long long _internalId

Definition optimizable_graph.h:550

References _internalId.

Referenced by g2o::OptimizableGraph::EdgeIDCompare::operator()().

◆ level()

int g2o::OptimizableGraph::Edge::level ( ) const

inline

returns the level of the edge

Definition at line 513 of file optimizable_graph.h.

513{ return _level; }

References _level.

Referenced by g2o::BackBoneTreeAction::init(), main(), and g2o::EdgeTypesCostFunction::operator()().

◆ linearizeOplus()

virtual void g2o::OptimizableGraph::Edge::linearizeOplus ( JacobianWorkspace & jacobianWorkspace )

pure virtual

Linearizes the constraint in the edge in the manifold space, and store the result in the given workspace

References g2o::OptimizableGraph::jacobianWorkspace().

Referenced by g2o::BlockSolver< Traits >::buildSystem(), g2o::StructureOnlySolver< PointDoF >::calc(), g2o::SparseOptimizerOnline::optimize(), and g2o::SparseOptimizerIncremental::updateInitialization().

◆ mapHessianMemory()

virtual void g2o::OptimizableGraph::Edge::mapHessianMemory	(	double *	d,
		int	i,
		int	j,
		bool	rowMajor )

pure virtual

maps the internal matrix to some external memory location, you need to provide the memory before calling constructQuadraticForm

Parameters

d	the memory location to which we map
i	index of the vertex i
j	index of the vertex j (j > i, upper triangular fashion)
rowMajor	if true, will write in rowMajor order to the block. Since EIGEN is columnMajor by default, this results in writing the transposed

Referenced by g2o::BlockSolver< Traits >::buildStructure(), g2o::SparseOptimizerIncremental::updateInitialization(), and g2o::BlockSolver< Traits >::updateStructure().

◆ measurementDimension()

int g2o::OptimizableGraph::Edge::measurementDimension ( ) const

virtual

returns the dimension of the measurement in the extended representation which is used by get/setMeasurement;

Reimplemented in g2o::EdgeLine2D, g2o::EdgeLine2DPointXY, g2o::EdgePlane, g2o::EdgePointXY, g2o::EdgePointXYZ, g2o::EdgeSBACam, g2o::EdgeSE2, g2o::EdgeSE2Line2D, g2o::EdgeSE2Offset, g2o::EdgeSE2PointXY, g2o::EdgeSE2PointXYBearing, g2o::EdgeSE2PointXYOffset, g2o::EdgeSE2Prior, g2o::EdgeSE2Segment2D, g2o::EdgeSE2Segment2DLine, g2o::EdgeSE2Segment2DPointLine, g2o::EdgeSE2XYPrior, g2o::EdgeSE3, g2o::EdgeSE3Line3D, g2o::EdgeSE3PointXYZ, g2o::EdgeSE3PointXYZDepth, g2o::EdgeSE3PointXYZDisparity, g2o::EdgeSE3Prior, g2o::EdgeSE3XYZPrior, g2o::EdgeXYPrior, and g2o::EdgeXYZPrior.

Definition at line 169 of file optimizable_graph.cpp.

169{ return -1; }

Referenced by computeError().

◆ numParameters()

size_t g2o::OptimizableGraph::Edge::numParameters ( ) const

inline

Definition at line 539 of file optimizable_graph.h.

539{ return _parameters.size(); }

References _parameters.

Referenced by g2o::EdgeCreator::createEdge(), and g2o::Measurement< D, E >::readParamIds().

◆ parameter()

const Parameter * g2o::OptimizableGraph::Edge::parameter ( int argNo ) const

inline

Definition at line 536 of file optimizable_graph.h.

                                                       {
      return *_parameters.at(argNo);
    }

References _parameters.

Referenced by g2o::EdgeProjectPSI2UV::computeError(), g2o::EdgeProjectXYZ2UV::computeError(), g2o::EdgeProjectXYZ2UVU::computeError(), g2o::EdgeProjectPSI2UV::linearizeOplus(), and g2o::EdgeProjectXYZ2UV::linearizeOplus().

◆ read()

virtual bool g2o::OptimizableGraph::Edge::read ( std::istream & is )

pure virtual

read the vertex from a stream, i.e., the internal state of the vertex

Implemented in EdgeCalib, EdgeObservationBAL, EdgePointOnCircle, EdgePointOnCurve, g2o::Edge_V_V_GICP, g2o::Edge_XYZ_VSC, g2o::EdgeInverseSim3ProjectXYZ, g2o::EdgeLine2D, g2o::EdgeLine2DPointXY, g2o::EdgePlane, g2o::EdgePointXY, g2o::EdgePointXYZ, g2o::EdgeProjectP2MC, g2o::EdgeProjectP2SC, g2o::EdgeProjectPSI2UV, g2o::EdgeProjectXYZ2UV, g2o::EdgeProjectXYZ2UVU, g2o::EdgeSBACam, g2o::EdgeSBAScale, g2o::EdgeSE2, g2o::EdgeSE2Line2D, g2o::EdgeSE2LotsOfXY, g2o::EdgeSE2OdomDifferentialCalib, g2o::EdgeSE2Offset, g2o::EdgeSE2PointXY, g2o::EdgeSE2PointXYBearing, g2o::EdgeSE2PointXYCalib, g2o::EdgeSE2PointXYOffset, g2o::EdgeSE2Prior, g2o::EdgeSE2PureCalib, g2o::EdgeSE2Segment2D, g2o::EdgeSE2Segment2DLine, g2o::EdgeSE2Segment2DPointLine, g2o::EdgeSE2SensorCalib, g2o::EdgeSE2TwoPointsXY, g2o::EdgeSE2XYPrior, g2o::EdgeSE3, g2o::EdgeSE3Calib, g2o::EdgeSE3Euler, g2o::EdgeSE3Expmap, g2o::EdgeSE3Line3D, g2o::EdgeSE3LotsOfXYZ, g2o::EdgeSE3Offset, g2o::EdgeSE3PlaneSensorCalib, g2o::EdgeSE3PointXYZ, g2o::EdgeSE3PointXYZDepth, g2o::EdgeSE3PointXYZDisparity, g2o::EdgeSE3Prior, g2o::EdgeSE3ProjectXYZ, g2o::EdgeSE3ProjectXYZOnlyPose, g2o::EdgeSE3XYZPrior, g2o::EdgeSim3, g2o::EdgeSim3ProjectXYZ, g2o::EdgeStereoSE3ProjectXYZ, g2o::EdgeStereoSE3ProjectXYZOnlyPose, g2o::EdgeXYPrior, g2o::EdgeXYZPrior, g2o::tutorial::EdgeSE2, g2o::tutorial::EdgeSE2PointXY, GPSObservationEdgePositionVelocity3D, GPSObservationPosition3DEdge, MultipleValueEdge, PolynomialSingleValueEdge, and TargetOdometry3DEdge.

◆ resizeParameters()

void g2o::OptimizableGraph::Edge::resizeParameters ( size_t newSize )

inline

Definition at line 540 of file optimizable_graph.h.

                                                 {
      _parameters.resize(newSize, 0);
      _parameterIds.resize(newSize, -1);
      _parameterTypes.resize(newSize, typeid(void*).name());
    }

References _parameterIds, _parameters, and _parameterTypes.

Referenced by g2o::EdgeProjectPSI2UV::EdgeProjectPSI2UV(), g2o::EdgeProjectXYZ2UV::EdgeProjectXYZ2UV(), g2o::EdgeProjectXYZ2UVU::EdgeProjectXYZ2UVU(), g2o::EdgeSE2Offset::EdgeSE2Offset(), g2o::tutorial::EdgeSE2PointXY::EdgeSE2PointXY(), g2o::EdgeSE2PointXYOffset::EdgeSE2PointXYOffset(), g2o::EdgeSE3Line3D::EdgeSE3Line3D(), g2o::EdgeSE3Offset::EdgeSE3Offset(), g2o::EdgeSE3PointXYZ::EdgeSE3PointXYZ(), g2o::EdgeSE3PointXYZDepth::EdgeSE3PointXYZDepth(), g2o::EdgeSE3PointXYZDisparity::EdgeSE3PointXYZDisparity(), g2o::EdgeSE3Prior::EdgeSE3Prior(), and g2o::EdgeSE3XYZPrior::EdgeSE3XYZPrior().

◆ resolveCache()

template<typename CacheType>

void g2o::OptimizableGraph::Edge::resolveCache	(	CacheType *&	cache,
		OptimizableGraph::Vertex *	v,
		const std::string &	_type,
		const ParameterVector &	parameters )

protected

Definition at line 125 of file cache.h.

                                                                              {
  cache = 0;
  CacheContainer* container = v->cacheContainer();
  Cache::CacheKey key(type_, parameters_);
  Cache* c = container->findCache(key);
  if (!c) {
    c = container->createCache(key);
  }
  if (c) {
    cache = dynamic_cast<CacheType*>(c);
  }
}

References g2o::OptimizableGraph::Vertex::cacheContainer(), g2o::CacheContainer::createCache(), and g2o::CacheContainer::findCache().

Referenced by g2o::EdgeSE2Offset::resolveCaches(), g2o::EdgeSE2PointXYOffset::resolveCaches(), g2o::EdgeSE3Line3D::resolveCaches(), g2o::EdgeSE3Offset::resolveCaches(), g2o::EdgeSE3PointXYZ::resolveCaches(), g2o::EdgeSE3PointXYZDepth::resolveCaches(), g2o::EdgeSE3PointXYZDisparity::resolveCaches(), g2o::EdgeSE3Prior::resolveCaches(), g2o::EdgeSE3XYZPrior::resolveCaches(), and g2o::tutorial::EdgeSE2PointXY::resolveCaches().

◆ resolveCaches()

bool g2o::OptimizableGraph::Edge::resolveCaches ( )

protectedvirtual

Reimplemented in g2o::EdgeSE2Offset, g2o::EdgeSE2PointXYOffset, g2o::EdgeSE3Line3D, g2o::EdgeSE3Offset, g2o::EdgeSE3PointXYZ, g2o::EdgeSE3PointXYZDepth, g2o::EdgeSE3PointXYZDisparity, g2o::EdgeSE3Prior, g2o::EdgeSE3XYZPrior, and g2o::tutorial::EdgeSE2PointXY.

Definition at line 163 of file optimizable_graph.cpp.

163{ return true; }

Referenced by g2o::OptimizableGraph::addEdge(), and g2o::OptimizableGraph::setEdgeVertex().

◆ resolveParameters()

bool g2o::OptimizableGraph::Edge::resolveParameters ( )

protected

Definition at line 133 of file optimizable_graph.cpp.

                                             {
  if (!graph()) {
    G2O_ERROR("{}: edge not registered with a graph", __PRETTY_FUNCTION__);
    return false;
  }
 
  assert(_parameters.size() == _parameterIds.size());
  for (size_t i = 0; i < _parameters.size(); i++) {
    int index = _parameterIds[i];
    *_parameters[i] = graph()->parameter(index);
    auto& aux = **_parameters[i];
    if (typeid(aux).name() != _parameterTypes[i]) {
      G2O_ERROR(
          "{}: FATAL, parameter type mismatch - encountered {}; should be {}",
          __PRETTY_FUNCTION__, typeid(aux).name(), _parameterTypes[i]);
    }
    if (!*_parameters[i]) {
      G2O_ERROR("{}: FATAL, *_parameters[i] == 0", __PRETTY_FUNCTION__);
      return false;
    }
  }
  return true;
}

References __PRETTY_FUNCTION__, _parameterIds, _parameters, _parameterTypes, G2O_ERROR, and graph().

Referenced by g2o::OptimizableGraph::addEdge(), and g2o::OptimizableGraph::setEdgeVertex().

◆ robustKernel()

RobustKernel * g2o::OptimizableGraph::Edge::robustKernel ( ) const

inline

if NOT NULL, error of this edge will be robustifed with the kernel

Definition at line 450 of file optimizable_graph.h.

450{ return _robustKernel; }

References _robustKernel.

Referenced by g2o::SparseOptimizer::activeRobustChi2(), g2o::StructureOnlySolver< PointDoF >::calc(), gnudump_edges(), gnudump_features(), main(), InvChi2CostFunction::operator()(), and MainWindow::setRobustKernel().

◆ setLevel()

void g2o::OptimizableGraph::Edge::setLevel ( int l )

inline

sets the level of the edge

Definition at line 515 of file optimizable_graph.h.

515{ _level = l; }

References _level.

Referenced by g2o::assignHierarchicalEdges(), and g2o::computeSimpleStars().

◆ setMeasurementData()

bool g2o::OptimizableGraph::Edge::setMeasurementData ( const double * m )

virtual

sets the measurement from an array of double

Returns: true on success

Reimplemented in g2o::EdgeLine2D, g2o::EdgeLine2DPointXY, g2o::EdgePlane, g2o::EdgePointXY, g2o::EdgePointXYZ, g2o::EdgeSBACam, g2o::EdgeSE2, g2o::EdgeSE2Line2D, g2o::EdgeSE2Offset, g2o::EdgeSE2PointXY, g2o::EdgeSE2PointXYBearing, g2o::EdgeSE2PointXYOffset, g2o::EdgeSE2Prior, g2o::EdgeSE2Segment2D, g2o::EdgeSE2Segment2DLine, g2o::EdgeSE2Segment2DPointLine, g2o::EdgeSE2XYPrior, g2o::EdgeSE3, g2o::EdgeSE3Line3D, g2o::EdgeSE3PointXYZ, g2o::EdgeSE3PointXYZDepth, g2o::EdgeSE3PointXYZDisparity, g2o::EdgeSE3Prior, g2o::EdgeSE3XYZPrior, g2o::EdgeXYPrior, and g2o::EdgeXYZPrior.

Definition at line 165 of file optimizable_graph.cpp.

165{ return false; }

Referenced by computeError().

◆ setMeasurementFromState()

bool g2o::OptimizableGraph::Edge::setMeasurementFromState ( )

virtual

sets the estimate to have a zero error, based on the current value of the state variables returns false if not supported.

Reimplemented in g2o::EdgeLine2D, g2o::EdgeLine2DPointXY, g2o::EdgePlane, g2o::EdgePointXY, g2o::EdgePointXYZ, g2o::EdgeSBACam, g2o::EdgeSE2, g2o::EdgeSE2Line2D, g2o::EdgeSE2LotsOfXY, g2o::EdgeSE2Offset, g2o::EdgeSE2PointXY, g2o::EdgeSE2PointXYBearing, g2o::EdgeSE2PointXYOffset, g2o::EdgeSE2Segment2D, g2o::EdgeSE2Segment2DLine, g2o::EdgeSE2Segment2DPointLine, g2o::EdgeSE2TwoPointsXY, g2o::EdgeSE3, g2o::EdgeSE3LotsOfXYZ, g2o::EdgeSE3Offset, g2o::EdgeSE3PointXYZ, g2o::EdgeSE3PointXYZDepth, g2o::EdgeSE3PointXYZDisparity, g2o::EdgeSE3Prior, g2o::EdgeSE3XYZPrior, g2o::EdgeXYPrior, and g2o::EdgeXYZPrior.

Definition at line 171 of file optimizable_graph.cpp.

171{ return false; }

Referenced by computeError(), and g2o::EdgeLabeler::labelEdge().

◆ setParameterId()

bool g2o::OptimizableGraph::Edge::setParameterId	(	int	argNum,
		int	paramId )

Definition at line 125 of file optimizable_graph.cpp.

                                                                 {
  if ((int)_parameters.size() <= argNum) return false;
  if (argNum < 0) return false;
  *_parameters[argNum] = 0;
  _parameterIds[argNum] = paramId;
  return true;
}

References _parameterIds, and _parameters.

Referenced by g2o::EdgeCreator::createEdge(), main(), main(), main(), Robot::move(), g2o::EdgeSE2Offset::read(), g2o::EdgeSE2PointXYOffset::read(), g2o::tutorial::EdgeSE2PointXY::read(), g2o::Measurement< D, E >::readParamIds(), and LineSensor::sense().

◆ setRobustKernel()

void g2o::OptimizableGraph::Edge::setRobustKernel ( RobustKernel * ptr )

specify the robust kernel to be used in this edge

Definition at line 157 of file optimizable_graph.cpp.

                                                            {
  if (_robustKernel) release(_robustKernel);
 
  _robustKernel = ptr;
}

References _robustKernel, and g2o::release().

Referenced by main(), and MainWindow::setRobustKernel().

◆ write()

virtual bool g2o::OptimizableGraph::Edge::write ( std::ostream & os ) const

pure virtual

write the vertex to a stream

Implemented in EdgeCalib, EdgeObservationBAL, EdgePointOnCircle, EdgePointOnCurve, g2o::Edge_V_V_GICP, g2o::Edge_XYZ_VSC, g2o::EdgeInverseSim3ProjectXYZ, g2o::EdgeLine2D, g2o::EdgeLine2DPointXY, g2o::EdgePlane, g2o::EdgePointXY, g2o::EdgePointXYZ, g2o::EdgeProjectP2MC, g2o::EdgeProjectP2SC, g2o::EdgeProjectPSI2UV, g2o::EdgeProjectXYZ2UV, g2o::EdgeProjectXYZ2UVU, g2o::EdgeSBACam, g2o::EdgeSBAScale, g2o::EdgeSE2, g2o::EdgeSE2Line2D, g2o::EdgeSE2LotsOfXY, g2o::EdgeSE2OdomDifferentialCalib, g2o::EdgeSE2Offset, g2o::EdgeSE2PointXY, g2o::EdgeSE2PointXYBearing, g2o::EdgeSE2PointXYCalib, g2o::EdgeSE2PointXYOffset, g2o::EdgeSE2Prior, g2o::EdgeSE2PureCalib, g2o::EdgeSE2Segment2D, g2o::EdgeSE2Segment2DLine, g2o::EdgeSE2Segment2DPointLine, g2o::EdgeSE2SensorCalib, g2o::EdgeSE2TwoPointsXY, g2o::EdgeSE2XYPrior, g2o::EdgeSE3, g2o::EdgeSE3Calib, g2o::EdgeSE3Euler, g2o::EdgeSE3Expmap, g2o::EdgeSE3Line3D, g2o::EdgeSE3LotsOfXYZ, g2o::EdgeSE3Offset, g2o::EdgeSE3PlaneSensorCalib, g2o::EdgeSE3PointXYZ, g2o::EdgeSE3PointXYZDepth, g2o::EdgeSE3PointXYZDisparity, g2o::EdgeSE3Prior, g2o::EdgeSE3ProjectXYZ, g2o::EdgeSE3ProjectXYZOnlyPose, g2o::EdgeSE3XYZPrior, g2o::EdgeSim3, g2o::EdgeSim3ProjectXYZ, g2o::EdgeStereoSE3ProjectXYZ, g2o::EdgeStereoSE3ProjectXYZOnlyPose, g2o::EdgeXYPrior, g2o::EdgeXYZPrior, g2o::tutorial::EdgeSE2, g2o::tutorial::EdgeSE2PointXY, GPSObservationEdgePositionVelocity3D, GPSObservationPosition3DEdge, MultipleValueEdge, PolynomialSingleValueEdge, and TargetOdometry3DEdge.

Referenced by g2o::OptimizableGraph::saveEdge().

◆ OptimizableGraph

friend struct OptimizableGraph

friend

Definition at line 419 of file optimizable_graph.h.

References Edge(), and OptimizableGraph.

Referenced by g2o::Measurement< D, E >::BaseEdge(), graph(), graph(), and OptimizableGraph.

Member Data Documentation

◆ _cacheIds

std::vector<int> g2o::OptimizableGraph::Edge::_cacheIds

protected

Definition at line 551 of file optimizable_graph.h.

◆ _dimension

int g2o::OptimizableGraph::Edge::_dimension

protected

Definition at line 547 of file optimizable_graph.h.

Referenced by g2o::Measurement< D, E >::BaseEdge(), dimension(), Edge(), g2o::BaseFixedSizedEdge< D, OdomAndLaserMotion, VertexSE2, VertexBaseline >::linearizeOplus_allocate(), g2o::BaseFixedSizedEdge< D, OdomAndLaserMotion, VertexSE2, VertexBaseline >::mapHessianMemory(), g2o::BaseVariableSizedEdge<-1, VectorX >::mapHessianMemory(), g2o::Measurement< D, E >::rank(), and g2o::Measurement< D, E >::setDimension().

◆ _internalId

long long g2o::OptimizableGraph::Edge::_internalId

protected

Definition at line 550 of file optimizable_graph.h.

Referenced by g2o::OptimizableGraph::addEdge(), and internalId().

◆ _level

int g2o::OptimizableGraph::Edge::_level

protected

Definition at line 548 of file optimizable_graph.h.

Referenced by Edge(), level(), and setLevel().

◆ _parameterIds

std::vector<int> g2o::OptimizableGraph::Edge::_parameterIds

protected

Definition at line 572 of file optimizable_graph.h.

Referenced by installParameter(), resizeParameters(), resolveParameters(), setParameterId(), and g2o::Measurement< D, E >::writeParamIds().

◆ _parameters

std::vector<Parameter**> g2o::OptimizableGraph::Edge::_parameters

protected

Definition at line 571 of file optimizable_graph.h.

Referenced by installParameter(), numParameters(), parameter(), resizeParameters(), resolveParameters(), and setParameterId().

◆ _parameterTypes

std::vector<std::string> g2o::OptimizableGraph::Edge::_parameterTypes

protected

Definition at line 570 of file optimizable_graph.h.

Referenced by installParameter(), resizeParameters(), and resolveParameters().

◆ _robustKernel

RobustKernel* g2o::OptimizableGraph::Edge::_robustKernel

protected

Definition at line 549 of file optimizable_graph.h.

Referenced by Edge(), robustKernel(), setRobustKernel(), and ~Edge().

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

/build/g2o-YEvA6N/g2o-0~20230806/g2o/core/optimizable_graph.h
/build/g2o-YEvA6N/g2o-0~20230806/g2o/core/cache.h
/build/g2o-YEvA6N/g2o-0~20230806/g2o/core/optimizable_graph.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Edge()

◆ ~Edge()

Member Function Documentation

◆ allVerticesFixed()

◆ chi2()

◆ computeError()

◆ constructQuadraticForm()

◆ createVertex()

◆ dimension()

◆ errorData() [1/2]

◆ errorData() [2/2]

◆ G2O_ATTRIBUTE_DEPRECATED() [1/2]

◆ G2O_ATTRIBUTE_DEPRECATED() [2/2]

◆ getMeasurementData()

◆ graph() [1/2]

◆ graph() [2/2]

◆ informationData() [1/2]

◆ informationData() [2/2]

◆ initialEstimate()

◆ initialEstimatePossible()

◆ installParameter()

◆ internalId()

◆ level()

◆ linearizeOplus()

◆ mapHessianMemory()

◆ measurementDimension()

◆ numParameters()

◆ parameter()

◆ read()

◆ resizeParameters()

◆ resolveCache()

◆ resolveCaches()

◆ resolveParameters()

◆ robustKernel()

◆ setLevel()

◆ setMeasurementData()

◆ setMeasurementFromState()

◆ setParameterId()

◆ setRobustKernel()

◆ write()

Friends And Related Symbol Documentation

◆ OptimizableGraph

Member Data Documentation

◆ _cacheIds

◆ _dimension

◆ _internalId

◆ _level

◆ _parameterIds

◆ _parameters

◆ _parameterTypes

◆ _robustKernel