Base class for edges connecting exactly one vertex (unary constraints). More...

Inheritance diagram for BaseUnaryEdge< t_dims, E, VertexXi >:

Collaboration diagram for BaseUnaryEdge< t_dims, E, VertexXi >:

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 Eigen::Matrix< g_type, t_dims, VertexXiType::Dimension >::AlignedMapType	JacobianXiOplusType
	Jacobian type w.r.t. the vertex.
typedef BaseEdge< t_dims, E >::Measurement	Measurement
	The measurement type.
typedef VertexXi	VertexXiType
	The vertex 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
	BaseUnaryEdge ()
	Default constructor.
virtual bool	allVerticesFixed () const final override
	Returns true if the single vertex is fixed.
void	constructQuadraticForm ()
	Constructs the quadratic form (Hessian block and gradient) for this unary edge.
const JacobianXiOplusType &	jacobianOplusXi () const
	returns the result of the linearization in the manifold space for the node xi
virtual void	linearizeOplus ()
	Linearizes the oplus operator in the vertex, and stores the result in temporary variables _jacobianOplusXi and _jacobianOplusXj.
virtual void	linearizeOplusAndConstructQuadraticForm (JacobianWorkspace &jacobianWorkspace) final override
	Linearizes the oplus operator and constructs the quadratic form.
virtual void	mapHessianMemory (g_type *, int, int, bool) final override
	maps the internal matrix to some external memory location, you need to provide the memory before calling constructQuadraticForm
virtual void	setVertex (uint04, HyperGraph::HGVertex *v) final override
	Sets the vertex, with type-checking.
virtual const HyperGraph::HGVertex *	vertex (uint04) const final override
	Returns a const pointer to the single vertex.
virtual HyperGraph::HGVertex *	vertex (uint04) final override
	Returns a mutable pointer to the single vertex.
virtual uint04	vertexCount () const final override
	Returns the number of vertices (always 1 for unary edges).
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

Protected Attributes
JacobianXiOplusType	_jacobianOplusXi
	Jacobian of the error w.r.t. the vertex.
VertexXiType *	m_vertex = nullptr
	Pointer to the connected vertex.
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
Static Public Attributes inherited from BaseEdge< t_dims, E >
static constexpr sint04	Dimension = t_dims
	Compile-time dimension of the error vector.
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, typename VertexXi>
class BaseUnaryEdge< t_dims, E, VertexXi >

Base class for edges connecting exactly one vertex (unary constraints).

Template Parameters

t_dims	The dimension of the error vector.
E	The measurement type.
VertexXi	The type of the connected vertex.

Definition at line 21 of file base_unary_edge.h.

Member Function Documentation

◆ linearizeOplusAndConstructQuadraticForm()

template<sint04 t_dims, typename E, typename VertexXi>

virtual void BaseUnaryEdge< t_dims, E, VertexXi >::linearizeOplusAndConstructQuadraticForm ( JacobianWorkspace & jacobianWorkspace )

inlinefinaloverridevirtual

Linearizes the oplus operator and constructs the quadratic form.

Parameters

[in] jacobianWorkspace Workspace for Jacobian computation.

Implements OptimizableGraph::OGEdge.

Definition at line 56 of file base_unary_edge.h.

References _jacobianOplusXi, constructQuadraticForm(), and linearizeOplus().

◆ mapHessianMemory()

template<sint04 t_dims, typename E, typename VertexXi>

virtual void BaseUnaryEdge< t_dims, E, VertexXi >::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 189 of file base_unary_edge.h.

◆ setVertex()

template<sint04 t_dims, typename E, typename VertexXi>

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

inlinefinaloverridevirtual

Sets the vertex, with type-checking.

Parameters

[in] v The vertex pointer to assign.

Implements HyperGraph::HGEdge.

Definition at line 43 of file base_unary_edge.h.

References cast(), and m_vertex.

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

GraphOptimization/Headers/base_unary_edge.h

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ linearizeOplusAndConstructQuadraticForm()

◆ mapHessianMemory()

◆ setVertex()