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NDEVR
API Documentation
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NDEVR
API Documentation
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Graph optimization vertex for a 3-DoF gyroscope bias. More...
Public Member Functions | |
| virtual void | oplusImpl (const g_type *update_) final override |
| update the position of the node from the parameters in v. | |
| Public Member Functions inherited from OptimizableGraph::OGVertex | |
| 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 | |
Additional Inherited Members | |
| Protected Member Functions inherited from OptimizableGraph::OGVertex | |
| 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 inherited from OptimizableGraph::OGVertex | |
| 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. | |
Graph optimization vertex for a 3-DoF gyroscope bias.
Definition at line 251 of file G2oTypes.h.
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inlinefinaloverridevirtual |
update the position of the node from the parameters in v.
Implement in your class!
Implements OptimizableGraph::OGVertex.
Definition at line 258 of file G2oTypes.h.
References BaseVertex< 3, Eigen::Vector3< g_type > >::estimate(), and BaseVertex< 3, Eigen::Vector3< g_type > >::setEstimate().