A general case Vertex for optimization. More...

#include <optimizable_graph.h>

Inheritance diagram for g2o::OptimizableGraph::Vertex:

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Collaboration diagram for g2o::OptimizableGraph::Vertex:

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Public Member Functions
	Vertex ()
virtual	~Vertex ()
void	setToOrigin ()
	sets the node to the origin (used in the multilevel stuff)
virtual const double &	hessian (int i, int j) const =0
	get the element from the hessian matrix
virtual double &	hessian (int i, int j)=0
virtual double	hessianDeterminant () const =0
virtual double *	hessianData ()=0
virtual void	mapHessianMemory (double *d)=0
virtual int	copyB (double *b_) const =0
virtual const double &	b (int i) const =0
	get the b vector element
virtual double &	b (int i)=0
virtual double *	bData ()=0
	return a pointer to the b vector associated with this vertex
virtual void	clearQuadraticForm ()=0
virtual double	solveDirect (double lambda=0)=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 (double *estimate) const
virtual bool	getEstimateData (std::vector< double > &estimate) const
template<typename Derived>
bool	getEstimateData (Eigen::MatrixBase< Derived > &estimate) const
virtual int	estimateDimension () 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 (double *estimate) const
virtual bool	getMinimalEstimateData (std::vector< double > &estimate) const
template<typename Derived>
bool	getMinimalEstimateData (Eigen::MatrixBase< Derived > &estimate) const
virtual int	minimalEstimateDimension () const
virtual void	push ()=0
	backup the position of the vertex to a stack
virtual void	pop ()=0
virtual void	discardTop ()=0
virtual int	stackSize () const =0
	return the stack size
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 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
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)

Protected Member Functions
virtual void	oplusImpl (const double *v)=0
virtual void	setToOriginImpl ()=0
	sets the node to the origin (used in the multilevel stuff)
virtual bool	setEstimateDataImpl (const double *)
virtual bool	setMinimalEstimateDataImpl (const double *)

Protected Attributes
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

Friends
struct	OptimizableGraph

Detailed Description

A general case Vertex for optimization.

Definition at line 107 of file optimizable_graph.h.

Constructor & Destructor Documentation

◆ Vertex()

g2o::OptimizableGraph::Vertex::Vertex ( )

Definition at line 56 of file optimizable_graph.cpp.

    : HyperGraph::Vertex(),
      _graph(0),
      _userData(0),
      _hessianIndex(-1),
      _fixed(false),
      _marginalized(false),
      _colInHessian(-1),
      _cacheContainer(0) {}

References _cacheContainer, _colInHessian, _fixed, _graph, _hessianIndex, _marginalized, _userData, g2o::HyperGraph::HyperGraph(), and Vertex().

Referenced by OptimizableGraph, and Vertex().

◆ ~Vertex()

g2o::OptimizableGraph::Vertex::~Vertex ( )

virtual

Reimplemented from g2o::HyperGraph::Vertex.

Definition at line 78 of file optimizable_graph.cpp.

                                {
  delete _cacheContainer;
  delete _userData;
}

References _cacheContainer, and _userData.

Member Function Documentation

◆ b() [1/2]

virtual const double & g2o::OptimizableGraph::Vertex::b ( int i ) const

pure virtual

◆ b() [2/2]

virtual double & g2o::OptimizableGraph::Vertex::b ( int i )

pure virtual

Implemented in g2o::BaseVertex< D, T >.

◆ bData()

virtual double * g2o::OptimizableGraph::Vertex::bData ( )

pure virtual

return a pointer to the b vector associated with this vertex

Referenced by g2o::StructureOnlySolver< PointDoF >::calc().

◆ cacheContainer()

CacheContainer * g2o::OptimizableGraph::Vertex::cacheContainer ( )

Definition at line 66 of file optimizable_graph.cpp.

                                                       {
  if (!_cacheContainer) _cacheContainer = new CacheContainer(this);
  return _cacheContainer;
}

References _cacheContainer.

Referenced by g2o::OptimizableGraph::Edge::resolveCache(), and write().

◆ clearQuadraticForm()

virtual void g2o::OptimizableGraph::Vertex::clearQuadraticForm ( )

pure virtual

set the b vector part of this vertex to zero

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

◆ colInHessian()

int g2o::OptimizableGraph::Vertex::colInHessian ( ) const

inline

get the row of this vertex in the Hessian

Definition at line 357 of file optimizable_graph.h.

357{ return _colInHessian; }

References _colInHessian.

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

◆ copyB()

virtual int g2o::OptimizableGraph::Vertex::copyB ( double * b_ ) const

pure virtual

copies the b vector in the array b_

Returns: the number of elements copied

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

◆ dimension()

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

inline

dimension of the estimated state belonging to this node

Definition at line 348 of file optimizable_graph.h.

348{ return _dimension; }

g2o::OptimizableGraph::Vertex::_dimension

int _dimension

Definition optimizable_graph.h:388

References _dimension.

Referenced by g2o::BlockSolver< Traits >::buildStructure(), g2o::BlockSolver< Traits >::buildSystem(), g2o::StructureOnlySolver< PointDoF >::calc(), g2o::OptimizationAlgorithmLevenberg::computeLambdaInit(), g2o::computeSimpleStars(), g2o::edgeAllVertsSameDim(), g2o::SparseOptimizer::findGauge(), g2o::SparseOptimizer::gaugeFreedom(), main(), main(), g2o::OptimizableGraph::maxDimension(), MainWindow::prepare(), g2o::G2oSlamInterface::printVertex(), PolynomialCoefficientVertex::read(), PPolynomialCoefficientVertex::read(), g2o::saveGnuplot(), PolynomialCoefficientVertex::setDimensionImpl(), g2o::SparseOptimizer::update(), g2o::SparseOptimizerIncremental::updateInitialization(), g2o::JacobianWorkspace::updateSize(), and g2o::BlockSolver< Traits >::updateStructure().

◆ discardTop()

virtual void g2o::OptimizableGraph::Vertex::discardTop ( )

pure virtual

pop the last element from the stack, without restoring the current estimate

Referenced by g2o::StructureOnlySolver< PointDoF >::calc(), g2o::OptimizableGraph::discardTop(), and g2o::OptimizableGraph::discardTop().

◆ estimateDimension()

int g2o::OptimizableGraph::Vertex::estimateDimension ( ) const

virtual

returns the dimension of the extended representation used by get/setEstimate(double*) -1 if it is not supported

Reimplemented in g2o::VertexCam, g2o::VertexLine2D, g2o::VertexLine3D, g2o::VertexPlane, g2o::VertexPointXY, g2o::VertexPointXYZ, g2o::VertexSE2, g2o::VertexSE3, and g2o::VertexSegment2D.

Definition at line 91 of file optimizable_graph.cpp.

91{ return -1; }

Referenced by getEstimateData(), getEstimateData(), g2o::SparseOptimizer::initializeOptimization(), setEstimateData(), and setEstimateData().

◆ fixed()

bool g2o::OptimizableGraph::Vertex::fixed ( ) const

inline

true => this node is fixed during the optimization

Definition at line 338 of file optimizable_graph.h.

338{ return _fixed; }

References _fixed.

Referenced by g2o::SparseOptimizer::buildIndexMapping(), g2o::BlockSolver< Traits >::buildSystem(), g2o::StructureOnlySolver< PointDoF >::calc(), g2o::SparseOptimizer::computeInitialGuess(), g2o::Slam2DViewer::draw(), g2o::SparseOptimizer::gaugeFreedom(), g2o::Edge_V_V_GICP::linearizeOplus(), main(), g2o::EstimatePropagator::PropagateAction::operator()(), g2o::OptimizableGraph::saveVertex(), setFixed(), g2o::SolverSLAM2DLinear::solveOrientation(), g2o::SparseOptimizer::updateInitialization(), and g2o::SparseOptimizerIncremental::updateInitialization().

◆ G2O_ATTRIBUTE_DEPRECATED() [1/2]

void g2o::OptimizableGraph::Vertex::G2O_ATTRIBUTE_DEPRECATED ( setTempIndex(int ti) )

inline

Definition at line 335 of file optimizable_graph.h.

335{ setHessianIndex(ti); }

g2o::OptimizableGraph::Vertex::setHessianIndex

void setHessianIndex(int ti)

set the temporary index of the vertex in the parameter blocks

Definition optimizable_graph.h:334

References setHessianIndex().

◆ G2O_ATTRIBUTE_DEPRECATED() [2/2]

int g2o::OptimizableGraph::Vertex::G2O_ATTRIBUTE_DEPRECATED ( tempIndex() const )

inline

Definition at line 332 of file optimizable_graph.h.

332{ return hessianIndex(); }

g2o::OptimizableGraph::Vertex::hessianIndex

int hessianIndex() const

Definition optimizable_graph.h:331

References hessianIndex().

◆ getEstimateData() [1/3]

bool g2o::OptimizableGraph::Vertex::getEstimateData ( double * estimate ) const

virtual

writes the estimater to an array of double

Returns: true on success

Reimplemented in g2o::VertexCam, g2o::VertexLine2D, g2o::VertexLine3D, g2o::VertexPlane, g2o::VertexPointXY, g2o::VertexPointXYZ, g2o::VertexSE2, g2o::VertexSE3, and g2o::VertexSegment2D.

Definition at line 89 of file optimizable_graph.cpp.

89{ return false; }

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

◆ getEstimateData() [2/3]

template<typename Derived>

bool g2o::OptimizableGraph::Vertex::getEstimateData ( Eigen::MatrixBase< Derived > & estimate ) const

inline

writes the estimater to an array of double

Returns: true on success

Definition at line 206 of file optimizable_graph.h.

                                                                   {
      int dim = estimateDimension();
      // If dim is -ve, getEstimateData is not implemented and fails
      if (dim < 0) return false;
 
      // If the vector isn't the right size to store the estimate, try to resize
      // it. This only works if the vector is dynamic. If it is static, fail.
      if (estimate.size() != dim) {
        if ((estimate.RowsAtCompileTime == Eigen::Dynamic) ||
            (estimate.ColsAtCompileTime == Eigen::Dynamic))
          estimate.derived().resize(dim);
        else
          return false;
      }
      return getEstimateData(estimate.derived().data());
    };

References estimateDimension(), and getEstimateData().

◆ getEstimateData() [3/3]

virtual bool g2o::OptimizableGraph::Vertex::getEstimateData ( std::vector< double > & estimate ) const

inlinevirtual

writes the estimater to an array of double

Returns: true on success

Definition at line 194 of file optimizable_graph.h.

                                                                    {
      int dim = estimateDimension();
      if (dim < 0) return false;
      estimate.resize(dim);
      return getEstimateData(&estimate[0]);
    };

References estimateDimension(), and getEstimateData().

◆ getMinimalEstimateData() [1/3]

bool g2o::OptimizableGraph::Vertex::getMinimalEstimateData ( double * estimate ) const

virtual

writes the estimate to an array of double

Returns: true on success

Reimplemented in g2o::VertexCam, g2o::VertexLine2D, g2o::VertexPointXY, g2o::VertexPointXYZ, g2o::VertexSE2, g2o::VertexSE3, and g2o::VertexSegment2D.

Definition at line 99 of file optimizable_graph.cpp.

                                                                 {
  return false;
}

Referenced by getMinimalEstimateData(), getMinimalEstimateData(), and testMarginals().

◆ getMinimalEstimateData() [2/3]

template<typename Derived>

bool g2o::OptimizableGraph::Vertex::getMinimalEstimateData ( Eigen::MatrixBase< Derived > & estimate ) const

inline

writes the estimate to an eigen type double

Returns: true on success

Definition at line 281 of file optimizable_graph.h.

                                                                          {
      int dim = minimalEstimateDimension();
      // If dim is -ve, getMinimalEstimateData is not implemented and fails
      if (dim < 0) return false;
 
      // If the vector isn't the right size to store the estimate, try to resize
      // it. This only works if the vector is dynamic. If it is static, fail.
      if (estimate.size() != dim) {
        if ((estimate.RowsAtCompileTime == Eigen::Dynamic) ||
            (estimate.ColsAtCompileTime == Eigen::Dynamic))
          estimate.derived().resize(dim);
        else
          return false;
      }
      return getMinimalEstimateData(estimate.derived().data());
    };

References getMinimalEstimateData(), and minimalEstimateDimension().

◆ getMinimalEstimateData() [3/3]

virtual bool g2o::OptimizableGraph::Vertex::getMinimalEstimateData ( std::vector< double > & estimate ) const

inlinevirtual

writes the estimate to an array of double

Returns: true on success

Definition at line 269 of file optimizable_graph.h.

                                                                           {
      int dim = minimalEstimateDimension();
      if (dim < 0) return false;
      estimate.resize(dim);
      return getMinimalEstimateData(&estimate[0]);
    };

References getMinimalEstimateData(), and minimalEstimateDimension().

◆ graph() [1/2]

OptimizableGraph * g2o::OptimizableGraph::Vertex::graph ( )

inline

Definition at line 360 of file optimizable_graph.h.

360{ return _graph; }

References _graph, and OptimizableGraph.

◆ graph() [2/2]

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

inline

Definition at line 359 of file optimizable_graph.h.

359{ return _graph; }

References _graph, and OptimizableGraph.

Referenced by g2o::activeVertexChi(), MainWindow::fixGraph(), g2o::OptimizableGraph::Edge::graph(), and g2o::OptimizableGraph::Edge::graph().

◆ hessian() [1/2]

virtual const double & g2o::OptimizableGraph::Vertex::hessian	(	int	i,
		int	j ) const

pure virtual

get the element from the hessian matrix

Referenced by g2o::OptimizationAlgorithmLevenberg::computeLambdaInit(), and g2o::computeSimpleStars().

◆ hessian() [2/2]

virtual double & g2o::OptimizableGraph::Vertex::hessian	(	int	i,
		int	j )

pure virtual

Implemented in g2o::BaseVertex< D, T >.

◆ hessianData()

virtual double * g2o::OptimizableGraph::Vertex::hessianData ( )

pure virtual

◆ hessianDeterminant()

virtual double g2o::OptimizableGraph::Vertex::hessianDeterminant ( ) const

pure virtual

◆ hessianIndex()

int g2o::OptimizableGraph::Vertex::hessianIndex ( ) const

inline

temporary index of this node in the parameter vector obtained from linearization

Definition at line 331 of file optimizable_graph.h.

331{ return _hessianIndex; }

References _hessianIndex.

Referenced by g2o::EdgeLabeler::augmentSparsePattern(), g2o::BlockSolver< Traits >::buildStructure(), g2o::SparseOptimizer::computeInitialGuess(), g2o::Slam2DViewer::draw(), G2O_ATTRIBUTE_DEPRECATED(), g2o::EdgeLabeler::labelEdge(), g2o::Star::labelStarEdges(), main(), g2o::SparseOptimizerIncremental::optimize(), g2o::ThetaTreeAction::perform(), g2o::SparseOptimizer::removeVertex(), g2o::SolverSLAM2DLinear::solveOrientation(), testMarginals(), g2o::SparseOptimizerIncremental::updateInitialization(), and g2o::BlockSolver< Traits >::updateStructure().

◆ lockQuadraticForm()

void g2o::OptimizableGraph::Vertex::lockQuadraticForm ( )

inline

lock for the block of the hessian and the b vector associated with this vertex, to avoid race-conditions if multi-threaded.

Definition at line 366 of file optimizable_graph.h.

366{ _quadraticFormMutex.lock(); }

g2o::OptimizableGraph::Vertex::_quadraticFormMutex

OpenMPMutex _quadraticFormMutex

Definition optimizable_graph.h:390

References _quadraticFormMutex.

◆ mapHessianMemory()

virtual void g2o::OptimizableGraph::Vertex::mapHessianMemory ( double * d )

pure virtual

maps the internal matrix to some external memory location

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

◆ marginalized()

bool g2o::OptimizableGraph::Vertex::marginalized ( ) const

inline

true => this node is marginalized out during the optimization

Definition at line 343 of file optimizable_graph.h.

343{ return _marginalized; }

References _marginalized.

Referenced by g2o::SparseOptimizer::buildIndexMapping(), g2o::BlockSolver< Traits >::buildStructure(), g2o::BlockSolver< Traits >::buildSystem(), g2o::OptimizationAlgorithmWithHessian::init(), g2o::StructureOnlySolver< PointDoF >::init(), main(), setMarginalized(), g2o::SparseOptimizer::updateInitialization(), g2o::SparseOptimizerIncremental::updateInitialization(), and g2o::BlockSolver< Traits >::updateStructure().

◆ minimalEstimateDimension()

int g2o::OptimizableGraph::Vertex::minimalEstimateDimension ( ) const

virtual

returns the dimension of the extended representation used by get/setEstimate(double*) -1 if it is not supported

Reimplemented in g2o::VertexCam, g2o::VertexLine2D, g2o::VertexPointXY, g2o::VertexPointXYZ, g2o::VertexSE2, g2o::VertexSE3, and g2o::VertexSegment2D.

Definition at line 103 of file optimizable_graph.cpp.

103{ return -1; }

Referenced by getMinimalEstimateData(), getMinimalEstimateData(), g2o::EdgeLabeler::labelEdge(), setMinimalEstimateData(), setMinimalEstimateData(), and testMarginals().

◆ oplus()

void g2o::OptimizableGraph::Vertex::oplus ( const double * v )

inline

Update the position of the node from the parameters in v. Depends on the implementation of oplusImpl in derived classes to actually carry out the update. Will also call updateCache() to update the caches of depending on the vertex.

Definition at line 324 of file optimizable_graph.h.

                                {
      oplusImpl(v);
      updateCache();
    }

References oplusImpl(), and updateCache().

Referenced by g2o::StructureOnlySolver< PointDoF >::calc(), g2o::EdgeLabeler::labelEdge(), testMarginals(), and g2o::SparseOptimizer::update().

◆ oplusImpl()

virtual void g2o::OptimizableGraph::Vertex::oplusImpl ( const double * v )

protectedpure virtual

update the position of the node from the parameters in v. Implement in your class!

Implemented in FPolynomialCoefficientVertex, g2o::OnlineVertexSE2, g2o::OnlineVertexSE3, g2o::tutorial::VertexPointXY, g2o::tutorial::VertexSE2, g2o::VertexCam, g2o::VertexIntrinsics, g2o::VertexLine2D, g2o::VertexLine3D, g2o::VertexOdomDifferentialParams, g2o::VertexPlane, g2o::VertexPointXY, g2o::VertexPointXYZ, g2o::VertexSCam, g2o::VertexSE2, g2o::VertexSE3, g2o::VertexSE3Expmap, g2o::VertexSegment2D, g2o::VertexSim3Expmap, PolynomialCoefficientVertex, PPolynomialCoefficientVertex, VertexBaseline, VertexCameraBAL, VertexCircle, VertexParams, VertexPointBAL, VertexPosition3D, VertexPosition3D, VertexPositionVelocity3D, and VertexVelocity3D.

Referenced by oplus().

◆ pop()

virtual void g2o::OptimizableGraph::Vertex::pop ( )

pure virtual

restore the position of the vertex by retrieving the position from the stack

Referenced by g2o::StructureOnlySolver< PointDoF >::calc(), g2o::EdgeLabeler::labelEdge(), g2o::Star::labelStarEdges(), g2o::OptimizableGraph::pop(), g2o::OptimizableGraph::pop(), and testMarginals().

◆ push()

virtual void g2o::OptimizableGraph::Vertex::push ( )

pure virtual

backup the position of the vertex to a stack

Referenced by g2o::StructureOnlySolver< PointDoF >::calc(), g2o::SparseOptimizer::computeInitialGuess(), g2o::EdgeLabeler::labelEdge(), g2o::Star::labelStarEdges(), g2o::OptimizableGraph::push(), g2o::OptimizableGraph::push(), and testMarginals().

◆ read()

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

pure virtual

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

Implemented in FPolynomialCoefficientVertex, g2o::tutorial::VertexPointXY, g2o::tutorial::VertexSE2, g2o::VertexCam, g2o::VertexIntrinsics, g2o::VertexLine2D, g2o::VertexLine3D, g2o::VertexOdomDifferentialParams, g2o::VertexPlane, g2o::VertexPointXY, g2o::VertexPointXYZ, g2o::VertexSCam, g2o::VertexSE2, g2o::VertexSE3, g2o::VertexSE3Euler, g2o::VertexSE3Expmap, g2o::VertexSegment2D, g2o::VertexSim3Expmap, PolynomialCoefficientVertex, PPolynomialCoefficientVertex, VertexBaseline, VertexCameraBAL, VertexCircle, VertexParams, VertexPointBAL, VertexPosition3D, VertexPosition3D, VertexPositionVelocity3D, and VertexVelocity3D.

◆ setColInHessian()

void g2o::OptimizableGraph::Vertex::setColInHessian ( int c )

inline

set the row of this vertex in the Hessian

Definition at line 355 of file optimizable_graph.h.

355{ _colInHessian = c; }

References _colInHessian.

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

◆ setEstimateData() [1/3]

bool g2o::OptimizableGraph::Vertex::setEstimateData ( const double * estimate )

sets the initial estimate from an array of double Implement setEstimateDataImpl()

Returns: true on success

Definition at line 83 of file optimizable_graph.cpp.

                                                            {
  bool ret = setEstimateDataImpl(v);
  updateCache();
  return ret;
}

References setEstimateDataImpl(), and updateCache().

Referenced by setEstimateData(), setEstimateData(), g2o::VertexLine2D::setMinimalEstimateDataImpl(), g2o::VertexPointXY::setMinimalEstimateDataImpl(), g2o::VertexSE2::setMinimalEstimateDataImpl(), g2o::VertexSegment2D::setMinimalEstimateDataImpl(), and solveDirect().

◆ setEstimateData() [2/3]

template<typename Derived>

bool g2o::OptimizableGraph::Vertex::setEstimateData ( const Eigen::MatrixBase< Derived > & estimate )

inline

sets the initial estimate from an array of double Implement setEstimateDataImpl()

Returns: true on success

Definition at line 178 of file optimizable_graph.h.

                                                                   {
      int dim = estimateDimension();
      if ((dim == -1) || (estimate.size() != dim)) return false;
      return setEstimateData(estimate.derived().data());
    };

References estimateDimension(), and setEstimateData().

◆ setEstimateData() [3/3]

bool g2o::OptimizableGraph::Vertex::setEstimateData ( const std::vector< double > & estimate )

inline

sets the initial estimate from an array of double Implement setEstimateDataImpl()

Returns: true on success

Definition at line 166 of file optimizable_graph.h.

                                                            {
      int dim = estimateDimension();
      if ((dim == -1) || (estimate.size() != std::size_t(dim))) return false;
      return setEstimateData(&estimate[0]);
    };

References estimateDimension(), and setEstimateData().

◆ setEstimateDataImpl()

virtual bool g2o::OptimizableGraph::Vertex::setEstimateDataImpl ( const double * )

inlineprotectedvirtual

writes the estimater to an array of double

Returns: true on success

Reimplemented in g2o::VertexCam, g2o::VertexLine2D, g2o::VertexLine3D, g2o::VertexPlane, g2o::VertexPointXY, g2o::VertexPointXYZ, g2o::VertexSE2, g2o::VertexSE3, and g2o::VertexSegment2D.

Definition at line 407 of file optimizable_graph.h.

407{ return false; }

Referenced by setEstimateData().

◆ setFixed()

void g2o::OptimizableGraph::Vertex::setFixed ( bool fixed )

inline

true => this node should be considered fixed during the optimization

Definition at line 340 of file optimizable_graph.h.

340{ _fixed = fixed; }

g2o::OptimizableGraph::Vertex::fixed

bool fixed() const

true => this node is fixed during the optimization

Definition optimizable_graph.h:338

References _fixed, and fixed().

Referenced by g2o::StructureOnlySolver< PointDoF >::calc(), MainWindow::fixGraph(), g2o::G2oSlamInterface::fixNode(), g2o::Star::labelStarEdges(), main(), main(), main(), and g2o::OptimizableGraph::setFixed().

◆ setHessianIndex()

void g2o::OptimizableGraph::Vertex::setHessianIndex ( int ti )

inline

set the temporary index of the vertex in the parameter blocks

Definition at line 334 of file optimizable_graph.h.

334{ _hessianIndex = ti; }

References _hessianIndex.

Referenced by g2o::SparseOptimizer::buildIndexMapping(), G2O_ATTRIBUTE_DEPRECATED(), g2o::BaseDynamicVertex< T >::setDimension(), g2o::BaseDynamicVertex< T >::setDimensionImpl(), g2o::SparseOptimizer::updateInitialization(), and g2o::SparseOptimizerIncremental::updateInitialization().

◆ setId()

virtual void g2o::OptimizableGraph::Vertex::setId ( int id )

inlinevirtual

sets the id of the node in the graph be sure that the graph keeps consistent after changing the id

Reimplemented from g2o::HyperGraph::Vertex.

Definition at line 352 of file optimizable_graph.h.

352{ _id = id; }

g2o::HyperGraph::Vertex::id

int id() const

returns the id

Definition hyper_graph.h:154

g2o::HyperGraph::Vertex::_id

int _id

Definition hyper_graph.h:163

References g2o::HyperGraph::Vertex::_id, and g2o::HyperGraph::Vertex::id().

Referenced by g2o::G2oSlamInterface::addVertex(), LineItem::LineItem(), main(), main(), main(), Robot::move(), PlaneItem::PlaneItem(), and g2o::Gm2dlIO::readGm2dl().

◆ setMarginalized()

void g2o::OptimizableGraph::Vertex::setMarginalized ( bool marginalized )

inline

true => this node should be marginalized out during the optimization

Definition at line 345 of file optimizable_graph.h.

345{ _marginalized = marginalized; }

g2o::OptimizableGraph::Vertex::marginalized

bool marginalized() const

true => this node is marginalized out during the optimization

Definition optimizable_graph.h:343

References _marginalized, and marginalized().

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

◆ setMinimalEstimateData() [1/3]

bool g2o::OptimizableGraph::Vertex::setMinimalEstimateData ( const double * estimate )

sets the initial estimate from an array of double. Implement setMinimalEstimateDataImpl()

Returns: true on success

Definition at line 93 of file optimizable_graph.cpp.

                                                                   {
  bool ret = setMinimalEstimateDataImpl(v);
  updateCache();
  return ret;
}

References setMinimalEstimateDataImpl(), and updateCache().

Referenced by setMinimalEstimateData(), and setMinimalEstimateData().

◆ setMinimalEstimateData() [2/3]

template<typename Derived>

bool g2o::OptimizableGraph::Vertex::setMinimalEstimateData ( const Eigen::MatrixBase< Derived > & estimate )

inline

sets the initial estimate from an eigen type of double. Implement setMinimalEstimateDataImpl()

Returns: true on success

Definition at line 253 of file optimizable_graph.h.

                                                                          {
      int dim = minimalEstimateDimension();
      if ((dim == -1) || (estimate.size() != dim)) return false;
      return setMinimalEstimateData(estimate.derived().data());
    };

References minimalEstimateDimension(), and setMinimalEstimateData().

◆ setMinimalEstimateData() [3/3]

bool g2o::OptimizableGraph::Vertex::setMinimalEstimateData ( const std::vector< double > & estimate )

inline

sets the initial estimate from an array of double. Implement setMinimalEstimateDataImpl()

Returns: true on success

Definition at line 241 of file optimizable_graph.h.

                                                                   {
      int dim = minimalEstimateDimension();
      if ((dim == -1) || (estimate.size() != std::size_t(dim))) return false;
      return setMinimalEstimateData(&estimate[0]);
    };

References minimalEstimateDimension(), and setMinimalEstimateData().

◆ setMinimalEstimateDataImpl()

virtual bool g2o::OptimizableGraph::Vertex::setMinimalEstimateDataImpl ( const double * )

inlineprotectedvirtual

sets the initial estimate from an array of double

Returns: true on success

Reimplemented in g2o::VertexCam, g2o::VertexLine2D, g2o::VertexPointXY, g2o::VertexPointXYZ, g2o::VertexSE2, g2o::VertexSE3, and g2o::VertexSegment2D.

Definition at line 413 of file optimizable_graph.h.

413{ return false; }

Referenced by setMinimalEstimateData().

◆ setToOrigin()

void g2o::OptimizableGraph::Vertex::setToOrigin ( )

inline

sets the node to the origin (used in the multilevel stuff)

Definition at line 117 of file optimizable_graph.h.

                       {
      setToOriginImpl();
      updateCache();
    }

References setToOriginImpl(), and updateCache().

Referenced by FPolynomialCoefficientVertex::FPolynomialCoefficientVertex(), g2o::SparseOptimizer::setToOrigin(), and g2o::SolverSLAM2DLinear::solveOrientation().

◆ setToOriginImpl()

virtual void g2o::OptimizableGraph::Vertex::setToOriginImpl ( )

protectedpure virtual

sets the node to the origin (used in the multilevel stuff)

Implemented in FPolynomialCoefficientVertex, g2o::tutorial::VertexPointXY, g2o::tutorial::VertexSE2, g2o::VertexCam, g2o::VertexIntrinsics, g2o::VertexLine2D, g2o::VertexLine3D, g2o::VertexOdomDifferentialParams, g2o::VertexPlane, g2o::VertexPointXY, g2o::VertexPointXYZ, g2o::VertexSE2, g2o::VertexSE3, g2o::VertexSE3Expmap, g2o::VertexSegment2D, g2o::VertexSim3Expmap, PolynomialCoefficientVertex, PPolynomialCoefficientVertex, VertexBaseline, VertexCameraBAL, VertexCircle, VertexParams, VertexPointBAL, VertexPosition3D, VertexPosition3D, VertexPositionVelocity3D, and VertexVelocity3D.

Referenced by setToOrigin().

◆ solveDirect()

virtual double g2o::OptimizableGraph::Vertex::solveDirect ( double lambda = 0 )

pure virtual

updates the current vertex with the direct solution x += H_ii\b_ii

Returns: the determinant of the inverted hessian

References setEstimateData().

Referenced by g2o::computeSimpleStars().

◆ stackSize()

virtual int g2o::OptimizableGraph::Vertex::stackSize ( ) const

pure virtual

◆ unlockQuadraticForm()

void g2o::OptimizableGraph::Vertex::unlockQuadraticForm ( )

inline

unlock the block of the hessian and the b vector associated with this vertex

Definition at line 371 of file optimizable_graph.h.

371{ _quadraticFormMutex.unlock(); }

References _quadraticFormMutex.

◆ updateCache()

void g2o::OptimizableGraph::Vertex::updateCache ( )

virtual

Definition at line 71 of file optimizable_graph.cpp.

                                         {
  if (_cacheContainer) {
    _cacheContainer->setUpdateNeeded();
    _cacheContainer->update();
  }
}

References _cacheContainer.

Referenced by oplus(), g2o::BaseVertex< D, T >::pop(), g2o::BaseDynamicVertex< T >::setDimension(), g2o::BaseDynamicVertex< T >::setDimensionImpl(), g2o::BaseVertex< D, T >::setEstimate(), setEstimateData(), setMinimalEstimateData(), setToOrigin(), g2o::VertexSE3::VertexSE3(), and write().

◆ write()

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

pure virtual

◆ OptimizableGraph

friend struct OptimizableGraph

friend

Definition at line 110 of file optimizable_graph.h.

References OptimizableGraph, and Vertex().

Referenced by graph(), graph(), and OptimizableGraph.

Member Data Documentation

◆ _cacheContainer

CacheContainer* g2o::OptimizableGraph::Vertex::_cacheContainer

protected

Definition at line 392 of file optimizable_graph.h.

Referenced by cacheContainer(), updateCache(), Vertex(), and ~Vertex().

◆ _colInHessian

int g2o::OptimizableGraph::Vertex::_colInHessian

protected

Definition at line 389 of file optimizable_graph.h.

Referenced by colInHessian(), setColInHessian(), and Vertex().

◆ _dimension

int g2o::OptimizableGraph::Vertex::_dimension

protected

Definition at line 388 of file optimizable_graph.h.

Referenced by dimension(), PolynomialCoefficientVertex::oplusImpl(), PPolynomialCoefficientVertex::oplusImpl(), g2o::BaseDynamicVertex< T >::setDimension(), and g2o::BaseDynamicVertex< T >::setDimensionImpl().

◆ _fixed

bool g2o::OptimizableGraph::Vertex::_fixed

protected

Definition at line 386 of file optimizable_graph.h.

Referenced by fixed(), setFixed(), and Vertex().

◆ _graph

OptimizableGraph* g2o::OptimizableGraph::Vertex::_graph

protected

Definition at line 383 of file optimizable_graph.h.

Referenced by g2o::OptimizableGraph::addVertex(), graph(), graph(), g2o::BaseDynamicVertex< T >::setDimension(), g2o::BaseDynamicVertex< T >::setDimensionImpl(), and Vertex().

◆ _hessianIndex

int g2o::OptimizableGraph::Vertex::_hessianIndex

protected

Definition at line 385 of file optimizable_graph.h.

Referenced by hessianIndex(), setHessianIndex(), and Vertex().

◆ _marginalized

bool g2o::OptimizableGraph::Vertex::_marginalized

protected

Definition at line 387 of file optimizable_graph.h.

Referenced by marginalized(), setMarginalized(), Vertex(), and g2o::VertexSim3Expmap::VertexSim3Expmap().

◆ _quadraticFormMutex

OpenMPMutex g2o::OptimizableGraph::Vertex::_quadraticFormMutex

protected

Definition at line 390 of file optimizable_graph.h.

Referenced by lockQuadraticForm(), and unlockQuadraticForm().

◆ _userData

Data* g2o::OptimizableGraph::Vertex::_userData

protected

Definition at line 384 of file optimizable_graph.h.

Referenced by Vertex(), and ~Vertex().

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/optimizable_graph.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Vertex()

◆ ~Vertex()

Member Function Documentation

◆ b() [1/2]

◆ b() [2/2]

◆ bData()

◆ cacheContainer()

◆ clearQuadraticForm()

◆ colInHessian()

◆ copyB()

◆ dimension()

◆ discardTop()

◆ estimateDimension()

◆ fixed()

◆ G2O_ATTRIBUTE_DEPRECATED() [1/2]

◆ G2O_ATTRIBUTE_DEPRECATED() [2/2]

◆ getEstimateData() [1/3]

◆ getEstimateData() [2/3]

◆ getEstimateData() [3/3]

◆ getMinimalEstimateData() [1/3]

◆ getMinimalEstimateData() [2/3]

◆ getMinimalEstimateData() [3/3]

◆ graph() [1/2]

◆ graph() [2/2]

◆ hessian() [1/2]

◆ hessian() [2/2]

◆ hessianData()

◆ hessianDeterminant()

◆ hessianIndex()

◆ lockQuadraticForm()

◆ mapHessianMemory()

◆ marginalized()

◆ minimalEstimateDimension()

◆ oplus()

◆ oplusImpl()

◆ pop()

◆ push()

◆ read()

◆ setColInHessian()

◆ setEstimateData() [1/3]

◆ setEstimateData() [2/3]

◆ setEstimateData() [3/3]

◆ setEstimateDataImpl()

◆ setFixed()

◆ setHessianIndex()

◆ setId()

◆ setMarginalized()

◆ setMinimalEstimateData() [1/3]

◆ setMinimalEstimateData() [2/3]

◆ setMinimalEstimateData() [3/3]

◆ setMinimalEstimateDataImpl()

◆ setToOrigin()

◆ setToOriginImpl()

◆ solveDirect()

◆ stackSize()

◆ unlockQuadraticForm()

◆ updateCache()

◆ write()

Friends And Related Symbol Documentation

◆ OptimizableGraph

Member Data Documentation

◆ _cacheContainer

◆ _colInHessian

◆ _dimension

◆ _fixed

◆ _graph

◆ _hessianIndex

◆ _marginalized

◆ _quadraticFormMutex

◆ _userData