vslam::g2o_types::VertexPointXYZ< PoseGraphT > Class Template Reference

Represents landmark variable (vertex) in g2o graph. More...

#include <vertex_landmark.h>

List of all members.

Public Member Functions
virtual void	oplusImpl (const double *update)
virtual void	setToOriginImpl ()
	VertexPointXYZ (int _points_idx, Points< PoseGraphT > &_points)
	VertexPointXYZ ()
virtual	~VertexPointXYZ ()
Unimplemented
Required by the interface, but not required for our use of g2o. Not intended for use. Not implemented.
virtual bool	read (std::istream &is)
virtual bool	write (std::ostream &os) const
Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
bool	save_state
	Controls if state is copied into pose-graph 'g' on destruction.
Protected Attributes
bool	initialized
	Guard againt improper init. by required nonparametric contructor.
int	pointds_idx
	Corresponding landmark index in 'points'.
Points< PoseGraphT > *	points

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Detailed Description

template<class PoseGraphT>
class vslam::g2o_types::VertexPointXYZ< PoseGraphT >

Represents landmark variable (vertex) in g2o graph.

Pose is parametrized as a point in 3D space wrt. to world CF. On destruction, the results of the optimalization are saved into pose-graph

See also:

g2o_types

Definition at line 27 of file vertex_landmark.h.

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Constructor & Destructor Documentation

template<class PoseGraphT>

vslam::g2o_types::VertexPointXYZ< PoseGraphT >::VertexPointXYZ	(	int	_points_idx,
		Points< PoseGraphT > &	_points
	)		[inline]

Definition at line 39 of file vertex_landmark.h.

template<class PoseGraphT>

vslam::g2o_types::VertexPointXYZ< PoseGraphT >::VertexPointXYZ

(

)

[inline]

required by the g2o interface

Definition at line 45 of file vertex_landmark.h.

template<class PoseGraphT>

virtual vslam::g2o_types::VertexPointXYZ< PoseGraphT >::~VertexPointXYZ

(

)

[inline, virtual]

Todo:

Turned of code that discarded results with moderate or high distance from the pre-optimization value. Investicate the influence on the results of VO, and if appropriate, delete it (original code is kept commented out).

Definition at line 73 of file vertex_landmark.h.

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Member Function Documentation

template<class PoseGraphT>

virtual void vslam::g2o_types::VertexPointXYZ< PoseGraphT >::oplusImpl

(

const double *

update

)

[inline, virtual]

Definition at line 63 of file vertex_landmark.h.

template<class PoseGraphT>

virtual bool vslam::g2o_types::VertexPointXYZ< PoseGraphT >::read

(

std::istream &

is

)

[inline, virtual]

Definition at line 56 of file vertex_landmark.h.

template<class PoseGraphT>

virtual void vslam::g2o_types::VertexPointXYZ< PoseGraphT >::setToOriginImpl

(

)

[inline, virtual]

Definition at line 47 of file vertex_landmark.h.

template<class PoseGraphT>

virtual bool vslam::g2o_types::VertexPointXYZ< PoseGraphT >::write

(

std::ostream &

os

)

const [inline, virtual]

Definition at line 57 of file vertex_landmark.h.

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Member Data Documentation

template<class PoseGraphT>

vslam::g2o_types::VertexPointXYZ< PoseGraphT >::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 35 of file vertex_landmark.h.

template<class PoseGraphT>

bool vslam::g2o_types::VertexPointXYZ< PoseGraphT >::initialized [protected]

Guard againt improper init. by required nonparametric contructor.

Definition at line 32 of file vertex_landmark.h.

template<class PoseGraphT>

int vslam::g2o_types::VertexPointXYZ< PoseGraphT >::pointds_idx [protected]

Corresponding landmark index in 'points'.

Definition at line 30 of file vertex_landmark.h.

template<class PoseGraphT>

Points<PoseGraphT>* vslam::g2o_types::VertexPointXYZ< PoseGraphT >::points [protected]

Definition at line 31 of file vertex_landmark.h.

template<class PoseGraphT>

bool vslam::g2o_types::VertexPointXYZ< PoseGraphT >::save_state

Controls if state is copied into pose-graph 'g' on destruction.

Definition at line 37 of file vertex_landmark.h.

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

• vertex_landmark.h