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NDEVR
API Documentation
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NDEVR
API Documentation
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This is an abstract class that represents one optimization problem. More...
Classes | |
| class | Data |
| data packet for a vertex. More... | |
| struct | EdgeIDCompare |
| order edges based on the internal ID, which is assigned to the edge in addEdge() More... | |
| class | OGEdge |
| Base edge class for the optimizable graph, adding error computation and robust kernels. More... | |
| class | OGVertex |
| A general case Vertex for optimization. More... | |
| struct | VertexIDCompare |
| order vertices based on their ID More... | |
Public Types | |
| enum | ActionType { AT_PREITERATION , AT_POSTITERATION , AT_NUM_ELEMENTS } |
| Types of actions that can be registered for optimization callbacks. More... | |
| typedef Buffer< OptimizableGraph::OGEdge * > | EdgeContainer |
| vector container for edges | |
| typedef Buffer< OptimizableGraph::OGVertex * > | VertexContainer |
| vector container for vertices | |
Public Member Functions | |
| OptimizableGraph () | |
| empty constructor | |
| virtual bool | addEdge (HyperGraph::HGEdge *e_) final override |
| adds a new edge. | |
| virtual bool | addVertex (HyperGraph::HGVertex &v) final override |
| adds a new vertex. | |
| g_type | chi2 () const |
| returns the chi2 of the current configuration | |
| Set< sint04 > | dimensions () const |
| iterates over all vertices and returns a set of all the vertex dimensions in the graph | |
| virtual void | discardTop () |
| discard the last backup of the estimate for all variables by removing it from the stack | |
| bool | isSolverSuitable (const OptimizationAlgorithmProperty &solverProperty, const Set< sint04 > &vertDims_=Set< int >()) const |
| test whether a solver is suitable for optimizing this graph. | |
| JacobianWorkspace & | jacobianWorkspace () |
| verify that all the information of the edges are semi positive definite, i.e., all Eigenvalues are >= 0. | |
| const JacobianWorkspace & | jacobianWorkspace () const |
| Returns a const reference to the Jacobian workspace. | |
| sint04 | maxDimension () const |
| return the maximum dimension of all vertices in the graph | |
| virtual void | pop () |
| pop (restore) the estimate of all variables from the stack | |
| virtual void | pop (Set< HyperGraph::HGVertex * > &vset) |
| pop (restore) the estimate a subset of the variables from the stack | |
| virtual void | push () |
| push the estimate of all variables onto a stack | |
| virtual void | push (Set< HyperGraph::HGVertex * > &vset) |
| push the estimate of a subset of the variables onto a stack | |
| virtual void | setFixed (Set< HyperGraph::HGVertex * > &vset, bool fixed) |
| fixes/releases a set of vertices | |
| Public Member Functions inherited from HyperGraph | |
| HyperGraph () | |
| constructs an empty hyper graph | |
| virtual | ~HyperGraph () |
| destroys the hyper-graph and all the vertices of the graph | |
| virtual void | clear () |
| removes a vertex from the graph. Returns true on success (vertex was present) | |
| Buffer< HGEdge * > & | edges () |
| const Buffer< HGEdge * > & | edges () const |
| HGVertex * | vertex (int id) |
| returns a vertex id in the hyper-graph, or 0 if the vertex id is not present | |
| const HGVertex * | vertex (int id) const |
| returns a vertex id in the hyper-graph, or 0 if the vertex id is not present | |
| Dictionary< int, HGVertex * > & | vertices () |
| const Dictionary< int, HGVertex * > & | vertices () const |
Protected Attributes | |
| JacobianWorkspace | _jacobianWorkspace |
| Workspace for computing Jacobians. | |
| int | _nextEdgeId = 0 |
| Counter for assigning internal edge IDs. | |
| Protected Attributes inherited from HyperGraph | |
| Buffer< HGEdge * > | _edges |
| Collection of all edges in the graph. | |
| Dictionary< int, HGVertex * > | _vertices |
| Map from vertex id to vertex pointer. | |
This is an abstract class that represents one optimization problem.
It specializes the general graph to contain special vertices and edges. The vertices represent parameters that can be optimized, while the edges represent constraints. This class also provides basic functionalities to handle the backup/restore of portions of the vertices.
Definition at line 36 of file optimizable_graph.h.
Types of actions that can be registered for optimization callbacks.
| Enumerator | |
|---|---|
| AT_PREITERATION | Action invoked before each iteration. |
| AT_POSTITERATION | Action invoked after each iteration. |
| AT_NUM_ELEMENTS | Sentinel value; keep as last element. |
Definition at line 40 of file optimizable_graph.h.
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inlinefinaloverridevirtual |
adds a new edge.
The edge should point to the vertices that it is connecting (setFrom/setTo).
Reimplemented from HyperGraph.
Definition at line 428 of file optimizable_graph.h.
References OptimizableGraph::OGEdge::_internalId, _jacobianWorkspace, _nextEdgeId, and HyperGraph::addEdge().
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inlinefinaloverridevirtual |
adds a new vertex.
The new vertex is then "taken".
Reimplemented from HyperGraph.
Definition at line 416 of file optimizable_graph.h.
References HyperGraph::addVertex(), and HyperGraph::vertex().
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inline |
test whether a solver is suitable for optimizing this graph.
| solverProperty | the solver property to evaluate. |
| vertDims | should equal to the set returned by dimensions() to avoid re-evaluating. |
Definition at line 540 of file optimizable_graph.h.
References dimensions(), OptimizationAlgorithmProperty::landmarkDim, OptimizationAlgorithmProperty::poseDim, OptimizationAlgorithmProperty::requiresMarginalize, and Set< t_value >::size().
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inline |
verify that all the information of the edges are semi positive definite, i.e., all Eigenvalues are >= 0.
| verbose | output edges with not PSD information matrix on cerr |
Returns a mutable reference to the Jacobian workspace.
Definition at line 606 of file optimizable_graph.h.
References _jacobianWorkspace.
Referenced by OptimizableGraph::OGEdge::linearizeOplusAndConstructQuadraticForm().