vslam::g2o_types::VertexSE3< PoseGraphT > Class Template Reference

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

#include <vertex_pose.h>

List of all members.

Public Member Functions
virtual void	oplusImpl (const double *update)
virtual void	setToOriginImpl ()
	VertexSE3 (PoseGraphT &_g, VertexD _vd)
	VertexSE3 ()
virtual	~VertexSE3 ()
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 Types
typedef graph_traits < PoseGraphT > ::vertex_descriptor	VertexD
Protected Attributes
PoseGraphT *	g
bool	initialized
	Guard againt improper init. by required nonparametric contructor.
VertexD	vd
	Corresponding vertex in 'g'.

---

Detailed Description

template<class PoseGraphT>
class vslam::g2o_types::VertexSE3< PoseGraphT >

Represents pose variable (vertex) in g2o graph.

Pose is parametrized in minimal parametrization of RBT from world CF to pose CF. On destruction, the results of the optimalization are saved into pose-graph

See also:

g2o_types

Definition at line 30 of file vertex_pose.h.

---

Member Typedef Documentation

template<class PoseGraphT>

typedef graph_traits<PoseGraphT>::vertex_descriptor vslam::g2o_types::VertexSE3< PoseGraphT >::VertexD [protected]

Definition at line 32 of file vertex_pose.h.

---

Constructor & Destructor Documentation

template<class PoseGraphT>

vslam::g2o_types::VertexSE3< PoseGraphT >::VertexSE3	(	PoseGraphT &	_g,
		VertexD	_vd
	)		[inline]

Definition at line 43 of file vertex_pose.h.

template<class PoseGraphT>

vslam::g2o_types::VertexSE3< PoseGraphT >::VertexSE3

(

)

[inline]

required by the g2o interface

Definition at line 49 of file vertex_pose.h.

template<class PoseGraphT>

virtual vslam::g2o_types::VertexSE3< PoseGraphT >::~VertexSE3

(

)

[inline, virtual]

Definition at line 76 of file vertex_pose.h.

---

Member Function Documentation

template<class PoseGraphT>

virtual void vslam::g2o_types::VertexSE3< PoseGraphT >::oplusImpl

(

const double *

update

)

[inline, virtual]

Definition at line 69 of file vertex_pose.h.

template<class PoseGraphT>

virtual bool vslam::g2o_types::VertexSE3< PoseGraphT >::read

(

std::istream &

is

)

[inline, virtual]

Definition at line 60 of file vertex_pose.h.

template<class PoseGraphT>

virtual void vslam::g2o_types::VertexSE3< PoseGraphT >::setToOriginImpl

(

)

[inline, virtual]

Definition at line 51 of file vertex_pose.h.

template<class PoseGraphT>

virtual bool vslam::g2o_types::VertexSE3< PoseGraphT >::write

(

std::ostream &

os

)

const [inline, virtual]

Definition at line 62 of file vertex_pose.h.

---

Member Data Documentation

template<class PoseGraphT>

vslam::g2o_types::VertexSE3< PoseGraphT >::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 38 of file vertex_pose.h.

template<class PoseGraphT>

PoseGraphT* vslam::g2o_types::VertexSE3< PoseGraphT >::g [protected]

Definition at line 33 of file vertex_pose.h.

template<class PoseGraphT>

bool vslam::g2o_types::VertexSE3< PoseGraphT >::initialized [protected]

Guard againt improper init. by required nonparametric contructor.

Definition at line 35 of file vertex_pose.h.

template<class PoseGraphT>

bool vslam::g2o_types::VertexSE3< PoseGraphT >::save_state

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

Definition at line 40 of file vertex_pose.h.

template<class PoseGraphT>

VertexD vslam::g2o_types::VertexSE3< PoseGraphT >::vd [protected]

Corresponding vertex in 'g'.

Definition at line 34 of file vertex_pose.h.

---

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

• vertex_pose.h