base class to represent an edge connecting an arbitrary number of nodes More...

Inheritance diagram for BaseMultiEdge< t_dims, E >:

Collaboration diagram for BaseMultiEdge< t_dims, E >:

Classes
struct	HessianHelper
	helper for mapping the Hessian memory of the upper triangular block More...

Public Types
typedef BaseEdge< t_dims, E >::ErrorVector	ErrorVector
	The error vector type.
typedef BaseEdge< t_dims, E >::InformationType	InformationType
	The information matrix type.
typedef MatrixX< g_type >::MapType	JacobianType
	Dynamic-size Jacobian map type.
typedef BaseEdge< t_dims, E >::Measurement	Measurement
	The measurement type.
Public Types inherited from BaseEdge< t_dims, E >
typedef Eigen::Matrix< g_type, t_dims, 1 >	ErrorVector
	Fixed-size error vector type.
typedef Eigen::Matrix< g_type, t_dims, t_dims >	InformationType
	Fixed-size information (inverse covariance) matrix type.
typedef E	Measurement
	The measurement type stored by this edge.

Public Member Functions
	BaseMultiEdge ()
	Default constructor.
bool	allVerticesFixed () const final override
	Returns true if all connected vertices are fixed.
void	computeQuadraticForm (const InformationType &omega, const ErrorVector &weightedError)
	Computes the quadratic form contributions for all vertex pairs.
void	constructQuadraticForm ()
	Constructs the quadratic form (Hessian and gradient) from the linearized multi-edge.
void	linearizeOplusAndConstructQuadraticForm (JacobianWorkspace &jacobianWorkspace) final override
	Linearizes the constraint in the edge in the manifold space, and store the result in the given workspace and Linearizes the constraint in the edge.
void	mapHessianMemory (g_type *d, int i, int j, bool rowMajor) final override
	maps the internal matrix to some external memory location, you need to provide the memory before calling constructQuadraticForm
void	resize (uint04 size)
	Resizes the edge to connect a given number of vertices.
virtual void	setVertex (uint04 i, HyperGraph::HGVertex *v) final override
	Sets the i-th vertex, with bounds and type checking.
virtual const HyperGraph::HGVertex *	vertex (uint04 i) const final override
	Returns a const pointer to the i-th vertex.
virtual HyperGraph::HGVertex *	vertex (uint04 i) final override
	Returns a mutable pointer to the i-th vertex.
virtual uint04	vertexCount () const final override
	Returns the number of connected vertices.
Public Member Functions inherited from BaseEdge< t_dims, E >
	BaseEdge ()
	Default constructor.
g_type	chi2 () const final override
	Computes the chi-squared error: e^T * Omega * e.
virtual sint04	dimension () const final override
	Returns the dimension of the error vector.
const ErrorVector &	error () const
	Returns a const reference to the error vector.
const InformationType &	information () const
	Returns a const reference to the information matrix.
const g_type *	informationData () const final override
	Returns a const pointer to the raw information matrix data.
g_type *	informationData () final override
	Returns a mutable pointer to the raw information matrix data.
const Measurement &	measurement () const
	accessor functions for the measurement represented by the edge
int	rank () const
	Returns the rank (dimension) of the error.
g_type	scalerInformation () const
	information matrix of the constraint
void	setInformation (const InformationType &information)
	Sets the information matrix.
void	setInformation (g_type information)
	Sets the information matrix to a scaled identity.
void	setMeasurement (const Measurement &m)
	Sets the measurement for this edge.
Public Member Functions inherited from OptimizableGraph::OGEdge
	OGEdge ()
	Default constructor.
void	clearRobustKernel ()
	Removes the robust kernel from this edge.
virtual void	computeError ()=0
	Computes the error of the edge and stores it internally.
long long	internalId () const
	the internal ID of the edge
int	level () const
	returns the level of the edge
RobustKernel *	robustKernel () const
	if NOT NULL, error of this edge will be robustifed with the kernel
void	setLevel (int l)
	sets the level of the edge
void	setRobustKernel (RobustKernel &ptr)
	specify the robust kernel to be used in this edge
Public Member Functions inherited from HyperGraph::HGEdge
	HGEdge (int id=-1)
	creates and empty edge with no vertices
int	id () const
	returns the id of this edge
void	setId (int id)
	sets the id of this edge

Static Public Member Functions
static int	computeUpperTriangleIndex (int i, int j)
	Computes the linear index for the upper-triangular storage of off-diagonal Hessian blocks.

Static Public Attributes
static const int	Dimension = BaseEdge<t_dims, E>::Dimension
	Dimension of the error vector.
Static Public Attributes inherited from BaseEdge< t_dims, E >
static constexpr sint04	Dimension = t_dims
	Compile-time dimension of the error vector.

Protected Attributes
Buffer< HessianHelper >	_hessian
	Off-diagonal Hessian blocks (upper triangle).
Buffer< JacobianType >	_jacobianOplus
	jacobians of the edge (w.r.t. oplus)
Buffer< OptimizableGraph::OGVertex * >	_vertices
	The connected vertices.
Protected Attributes inherited from BaseEdge< t_dims, E >
ErrorVector	_error
	The current error vector.
InformationType	_information
	The information (inverse covariance) matrix.
Measurement	_measurement
	The stored measurement for this edge.
Protected Attributes inherited from OptimizableGraph::OGEdge
int	_internalId = 0
	Internal sequential id assigned on insertion.
int	_level = 0
	Optimization level for multi-level optimization.
RobustKernel *	_robustKernel = nullptr
	Optional robust kernel for this edge.
Protected Attributes inherited from HyperGraph::HGEdge
int	_id
	unique id

Additional Inherited Members
Protected Member Functions inherited from BaseEdge< t_dims, E >
InformationType	robustInformation (const Eigen::Vector3< g_type > &rho) const
	calculate the robust information matrix by updating the information matrix of the error

Detailed Description

template<sint04 t_dims, typename E>
class BaseMultiEdge< t_dims, E >

base class to represent an edge connecting an arbitrary number of nodes

t_dims - Dimension of the measurement E - type to represent the measurement

Definition at line 21 of file base_multi_edge.h.

Member Function Documentation

◆ computeQuadraticForm()

template<sint04 t_dims, typename E>

void BaseMultiEdge< t_dims, E >::computeQuadraticForm	(	const InformationType &	omega,
		const ErrorVector &	weightedError )

inline

Computes the quadratic form contributions for all vertex pairs.

Parameters

[in]	omega	The (possibly robustified) information matrix.
[in]	weightedError	The weighted error vector.

Definition at line 207 of file base_multi_edge.h.

References _hessian, _jacobianOplus, _vertices, OptimizableGraph::OGVertex::bData(), computeUpperTriangleIndex(), OptimizableGraph::OGVertex::dimension(), OptimizableGraph::OGVertex::fixed(), BaseMultiEdge< t_dims, E >::HessianHelper::matrix, and BaseMultiEdge< t_dims, E >::HessianHelper::transposed.

Referenced by constructQuadraticForm().

◆ computeUpperTriangleIndex()

template<sint04 t_dims, typename E>

int BaseMultiEdge< t_dims, E >::computeUpperTriangleIndex	(	int	i,
		int	j )

inlinestatic

Computes the linear index for the upper-triangular storage of off-diagonal Hessian blocks.

Parameters

[in]	i	Row block index.
[in]	j	Column block index (j > i).

Definition at line 70 of file base_multi_edge.h.

Referenced by computeQuadraticForm(), and mapHessianMemory().

◆ linearizeOplusAndConstructQuadraticForm()

template<sint04 t_dims, typename E>

void BaseMultiEdge< t_dims, E >::linearizeOplusAndConstructQuadraticForm ( JacobianWorkspace & jacobianWorkspace )

inlinefinaloverridevirtual

Linearizes the constraint in the edge in the manifold space, and store the result in the given workspace and 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 accesed via _hessian.

Implements OptimizableGraph::OGEdge.

Definition at line 93 of file base_multi_edge.h.

References _jacobianOplus, _vertices, cast(), constructQuadraticForm(), and OptimizableGraph::OGVertex::dimension().

◆ mapHessianMemory()

template<sint04 t_dims, typename E>

void BaseMultiEdge< t_dims, E >::mapHessianMemory	(	g_type *	d,
		int	i,
		int	j,
		bool	rowMajor )

inlinefinaloverridevirtual

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

Implements OptimizableGraph::OGEdge.

Definition at line 152 of file base_multi_edge.h.

References _hessian, _vertices, computeUpperTriangleIndex(), OptimizableGraph::OGVertex::dimension(), BaseMultiEdge< t_dims, E >::HessianHelper::matrix, and BaseMultiEdge< t_dims, E >::HessianHelper::transposed.

◆ resize()

template<sint04 t_dims, typename E>

void BaseMultiEdge< t_dims, E >::resize ( uint04 size )

inline

Resizes the edge to connect a given number of vertices.

Parameters

[in] size The number of vertices.

Definition at line 174 of file base_multi_edge.h.

References _hessian, _jacobianOplus, and _vertices.

◆ setVertex()

template<sint04 t_dims, typename E>

virtual void BaseMultiEdge< t_dims, E >::setVertex	(	uint04	i,
		HyperGraph::HGVertex *	v )

inlinefinaloverridevirtual

Sets the i-th vertex, with bounds and type checking.

Parameters

[in]	i	The vertex index.
[in]	v	The vertex pointer.

Implements HyperGraph::HGEdge.

Definition at line 59 of file base_multi_edge.h.

References _vertices, and cast().

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

GraphOptimization/Headers/base_multi_edge.h

Classes

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ computeQuadraticForm()

◆ computeUpperTriangleIndex()

◆ linearizeOplusAndConstructQuadraticForm()

◆ mapHessianMemory()

◆ resize()

◆ setVertex()