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NDEVR
API Documentation
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NDEVR
API Documentation
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Multi-edge for IMU preintegration constraints between two poses. More...
Public Member Functions | |
| void | computeError () |
| Computes the error of the edge and stores it internally. | |
| Public Member Functions inherited from BaseMultiEdge< 9, vector9d > | |
| 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 | 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 uint04 | vertexCount () const final override |
| Returns the number of connected vertices. | |
| Public Member Functions inherited from BaseEdge< t_dims, vector9d > | |
| 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. | |
| 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 | 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. | |
| 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 | |
| virtual HGVertex * | vertex (uint04 i)=0 |
| Returns a mutable pointer to the i-th vertex. | |
Additional Inherited Members | |
| Public Types inherited from BaseMultiEdge< 9, vector9d > | |
| typedef BaseEdge< t_dims, vector9d >::ErrorVector | ErrorVector |
| The error vector type. | |
| typedef BaseEdge< t_dims, vector9d >::InformationType | InformationType |
| The information matrix type. | |
| typedef MatrixX< g_type >::MapType | JacobianType |
| Dynamic-size Jacobian map type. | |
| typedef BaseEdge< t_dims, vector9d >::Measurement | Measurement |
| The measurement type. | |
| Public Types inherited from BaseEdge< t_dims, vector9d > | |
| 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 vector9d | Measurement |
| The measurement type stored by this edge. | |
| Static Public Member Functions inherited from BaseMultiEdge< 9, vector9d > | |
| static int | computeUpperTriangleIndex (int i, int j) |
| Computes the linear index for the upper-triangular storage of off-diagonal Hessian blocks. | |
| Static Public Attributes inherited from BaseMultiEdge< 9, vector9d > | |
| static const int | Dimension |
| Dimension of the error vector. | |
| Static Public Attributes inherited from BaseEdge< t_dims, vector9d > | |
| static constexpr sint04 | Dimension |
| Compile-time dimension of the error vector. | |
| Protected Member Functions inherited from BaseEdge< t_dims, vector9d > | |
| InformationType | robustInformation (const Eigen::Vector3< g_type > &rho) const |
| calculate the robust information matrix by updating the information matrix of the error | |
| Protected Attributes inherited from BaseMultiEdge< 9, vector9d > | |
| 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, vector9d > | |
| 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 | |
Multi-edge for IMU preintegration constraints between two poses.
Definition at line 496 of file G2oTypes.h.