A general case Vertex for optimization. More...

Inheritance diagram for OptimizableGraph::OGVertex:

Collaboration diagram for OptimizableGraph::OGVertex:

Public Member Functions
virtual const g_type &	b (int i) const =0
	get the b vector element
virtual g_type *	bData ()=0
	return a pointer to the b vector associated with this vertex
virtual void	clearQuadraticForm ()=0
	set the b vector part of this vertex to zero
int	colInHessian () const
	get the row of this vertex in the Hessian
virtual sint04	copyB (g_type *b_) const =0
	copies the b vector in the array b_
virtual sint04	dimension () const =0
	dimension of the estimated state belonging to this node
virtual void	discardTop ()=0
	pop the last element from the stack, without restoring the current estimate
virtual sint04	estimateDimension () const
	returns the dimension of the extended representation used by get/setEstimate(g_type*) -1 if it is not supported
bool	fixed () const
	true => this node is fixed during the optimization
virtual bool	getEstimateData (Buffer< g_type > &estimate) const
	writes the estimater to an array of g_type
virtual bool	getEstimateData (g_type *) const
	writes the estimater to an array of g_type
virtual bool	getMinimalEstimateData (Buffer< g_type > &estimate) const
	writes the estimate to an array of g_type
virtual bool	getMinimalEstimateData (g_type *) const
	writes the estimate to an array of g_type
virtual const g_type &	hessian (int i, int j) const =0
	get the element from the hessian matrix
int	hessianIndex () const
	temporary index of this node in the parameter vector obtained from linearization
virtual void	mapHessianMemory (g_type *d)=0
	maps the internal matrix to some external memory location
bool	marginalized () const
	true => this node is marginalized out during the optimization
virtual sint04	minimalEstimateDimension () const
	returns the dimension of the extended representation used by get/setEstimate(g_type*) -1 if it is not supported
void	oplus (const g_type *v)
	Update the position of the node from the parameters in v.
virtual void	pop ()=0
	restore the position of the vertex by retrieving the position from the stack
virtual void	push ()=0
	backup the position of the vertex to a stack
void	setColInHessian (int c)
	set the row of this vertex in the Hessian
bool	setEstimateData (const Buffer< g_type > &estimate)
	sets the initial estimate from an array of g_type Implement setEstimateDataImpl()
bool	setEstimateData (const g_type *estimate)
	sets the initial estimate from an array of g_type Implement setEstimateDataImpl()
void	setFixed (bool fixed)
	true => this node should be considered fixed during the optimization
void	setHessianIndex (int ti)
	set the temporary index of the vertex in the parameter blocks
virtual void	setId (int id)
	sets the id of the node in the graph be sure that the graph keeps consistent after changing the id
void	setMarginalized (bool marginalized)
	true => this node should be marginalized out during the optimization
bool	setMinimalEstimateData (const Buffer< g_type > &estimate)
	sets the initial estimate from an array of g_type.
bool	setMinimalEstimateData (const g_type *estimate)
	sets the initial estimate from an array of g_type.
virtual g_type	solveDirect (g_type lambda=0)=0
	updates the current vertex with the direct solution x += H_ii\b_ii
virtual int	stackSize () const =0
	return the stack size
Public Member Functions inherited from HyperGraph::HGVertex
	HGVertex (int id=-1)
	creates a vertex having an ID specified by the argument
Buffer< HGEdge * > &	edges ()
	returns the set of hyper-edges that are leaving/entering in this vertex
const Buffer< HGEdge * > &	edges () const
	returns the set of hyper-edges that are leaving/entering in this vertex
int	id () const
	returns the id
void	setId (int newId)
	sets the id of this vertex

Protected Member Functions
virtual void	oplusImpl (const g_type *v)=0
	update the position of the node from the parameters in v.
virtual bool	setEstimateDataImpl (const g_type *)
	writes the estimater to an array of g_type
virtual bool	setMinimalEstimateDataImpl (const g_type *)
	sets the initial estimate from an array of g_type

Protected Attributes
int	_colInHessian = 0
	Column of this vertex in the Hessian matrix.
bool	_fixed = false
	Whether this vertex is fixed during optimization.
int	_hessianIndex = 0
	Index of this vertex in the Hessian.
bool	_marginalized = false
	Whether this vertex is marginalized (Schur complement).
Protected Attributes inherited from HyperGraph::HGVertex
Buffer< HGEdge * >	_edges
	Set of edges connected to this vertex.
int	_id
	Unique identifier for this vertex.

Detailed Description

A general case Vertex for optimization.

Definition at line 97 of file optimizable_graph.h.

Member Function Documentation

◆ copyB()

virtual sint04 OptimizableGraph::OGVertex::copyB ( g_type * b_ ) const

pure virtual

copies the b vector in the array b_

Returns: the number of elements copied

Implemented in BaseVertex< t_dims, T >, BaseVertex< 1, g_type >, BaseVertex< 1, InvDepthPoint >, BaseVertex< 2, GDirection >, BaseVertex< 4, ImuCamPose >, BaseVertex< 6, ImuCamPose >, BaseVertex< 6, SE3Quat >, and BaseVertex< 7, Sim3 >.

Referenced by BlockSolver< BlockSolverTraits< t_type, 6, 3 > >::buildSystem().

◆ getEstimateData() [1/2]

virtual bool OptimizableGraph::OGVertex::getEstimateData ( Buffer< g_type > & estimate ) const

inlinevirtual

writes the estimater to an array of g_type

Returns: true on success

Definition at line 181 of file optimizable_graph.h.

References estimateDimension(), and getEstimateData().

◆ getEstimateData() [2/2]

virtual bool OptimizableGraph::OGVertex::getEstimateData ( g_type * ) const

inlinevirtual

writes the estimater to an array of g_type

Returns: true on success

Definition at line 172 of file optimizable_graph.h.

Referenced by getEstimateData().

◆ getMinimalEstimateData() [1/2]

virtual bool OptimizableGraph::OGVertex::getMinimalEstimateData ( Buffer< g_type > & estimate ) const

inlinevirtual

writes the estimate to an array of g_type

Returns: true on success

Definition at line 231 of file optimizable_graph.h.

References getMinimalEstimateData(), and minimalEstimateDimension().

◆ getMinimalEstimateData() [2/2]

virtual bool OptimizableGraph::OGVertex::getMinimalEstimateData ( g_type * ) const

inlinevirtual

writes the estimate to an array of g_type

Returns: true on success

Definition at line 222 of file optimizable_graph.h.

Referenced by getMinimalEstimateData().

◆ oplus()

void OptimizableGraph::OGVertex::oplus ( const g_type * 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 263 of file optimizable_graph.h.

References oplusImpl().

Referenced by BaseVertex< t_dims, T >::solveDirect(), and SparseOptimizer::update().