vslam::G2OConstActiveDistanceBuilder< G > Class Template Reference

Optimizes all poses in fixed distance from a given vertex and all landmarks that are visible from the optimized poses. More...

#include <graph_opt.h>

Inheritance diagram for vslam::G2OConstActiveDistanceBuilder< G >:

List of all members.

Classes
struct	Instance
	Maintains state of g2o graph building. It is destroyed ater the graph is built. More...
class	PoseAgeCompare
	Defines ordering on graph verticies given by vertex addition time. More...
Public Member Functions
	G2OConstActiveDistanceBuilder (int _first_landmark_id, double _max_error, int _active_window)
Protected Types
typedef graph_traits< G > ::vertex_descriptor	VertexD
typedef graph_traits< G > ::vertex_iterator	VertexItT
Protected Attributes
const int	active_window
	see description of this class ( G2OConstActiveDistanceBuilder ).
Private Member Functions
void	addLandmarkObservations (int lm_idx, Instance &instance)
	Adds observation constrains for given landmark.
void	addPose (VertexD vertex, Instance &instance, bool add_lms)
	Adds pose.
void	addVisibleLandmarks (VertexD vertex, Instance &instance)
	Adds landmarks visible from given pose vertex.
virtual void	buildGraphImpl (g2o::SparseOptimizer &optimizer, G &g, Points< G > &points, VertexD startv)
void	setPoseFixed (VertexD vertex, Instance &instance, bool fixed)
	Sets given pose vertex as fixed. Fixed verticies are not adjusted by the optimalization.

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Detailed Description

template<class G>
class vslam::G2OConstActiveDistanceBuilder< G >

Optimizes all poses in fixed distance from a given vertex and all landmarks that are visible from the optimized poses.

Includes all poses that are not further than active_window in the pose-graph as optimalizable. All initialized landmarks visible from added optimizable poses are added into the optimalization. At the time of addition of a new landmark, other poses that the landmark is viewed from are added as non-optimalizable (if they are not added already).

Definition at line 117 of file graph_opt.h.

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Member Typedef Documentation

template<class G>

typedef graph_traits<G>::vertex_descriptor vslam::G2OConstActiveDistanceBuilder< G >::VertexD [protected]

Definition at line 120 of file graph_opt.h.

template<class G>

typedef graph_traits<G>::vertex_iterator vslam::G2OConstActiveDistanceBuilder< G >::VertexItT [protected]

Definition at line 119 of file graph_opt.h.

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Constructor & Destructor Documentation

template<class G>

vslam::G2OConstActiveDistanceBuilder< G >::G2OConstActiveDistanceBuilder	(	int	_first_landmark_id,
		double	_max_error,
		int	_active_window
	)		[inline]

Parameters:

_active_window

see active_window.

Definition at line 125 of file graph_opt.h.

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Member Function Documentation

template<class G>

void vslam::G2OConstActiveDistanceBuilder< G >::addLandmarkObservations	(	int	lm_idx,
		Instance &	instance
	)		[inline, private]

Adds observation constrains for given landmark.

Poses not present in the graph are added, iff they are not too far from start vertex.

Note:

Issues a ROS warning if observation error is too big. This should not happen because Landmark Manager souhld not allow such landmarks to survive.

Todo:

delete these lms

Definition at line 175 of file graph_opt.h.

template<class G>

void vslam::G2OConstActiveDistanceBuilder< G >::addPose	(	VertexD	vertex,
		Instance &	instance,
		bool	add_lms
	)		[inline, private]

Adds pose.

Parameters:

add_lms

Triggers addition of visible landmarks via addVisibleLandmarks if set true.

Definition at line 247 of file graph_opt.h.

template<class G>

void vslam::G2OConstActiveDistanceBuilder< G >::addVisibleLandmarks	(	VertexD	vertex,
		Instance &	instance
	)		[inline, private]

Adds landmarks visible from given pose vertex.

Triggers addition of landmark observations via addLandmarkObservations for each observation of given landmark.

Definition at line 220 of file graph_opt.h.

template<class G>

virtual void vslam::G2OConstActiveDistanceBuilder< G >::buildGraphImpl	(	g2o::SparseOptimizer &	optimizer,
		G &	g,
		Points< G > &	points,
		VertexD	startv
	)		[inline, private, virtual]

Implements vslam::G2OGraphBuilder< G >.

Definition at line 269 of file graph_opt.h.

template<class G>

void vslam::G2OConstActiveDistanceBuilder< G >::setPoseFixed	(	VertexD	vertex,
		Instance &	instance,
		bool	fixed
	)		[inline, private]

Sets given pose vertex as fixed. Fixed verticies are not adjusted by the optimalization.

Definition at line 265 of file graph_opt.h.

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Member Data Documentation

template<class G>

const int vslam::G2OConstActiveDistanceBuilder< G >::active_window [protected]

see description of this class ( G2OConstActiveDistanceBuilder ).

Definition at line 122 of file graph_opt.h.

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

• graph_opt.h