Graph class which stores references to vertex and factor descriptors, and provides methods for optimization. More...

#include <graph.hpp>

Public Member Functions
size_t	get_hessian_dimension () const

size_t	get_variable_dimension (const size_t block_index) const

size_t	get_num_block_columns () const

const std::vector< size_t > &	get_offset_vector () const

thrust::device_vector< T > &	get_b ()

std::vector< BaseVertexDescriptor< T, S > * > &	get_vertex_descriptors ()

std::vector< BaseFactorDescriptor< T, S > * > &	get_factor_descriptors ()

thrust::device_vector< T > &	get_jacobian_scales ()

template<typename V >
void	add_vertex_descriptor (V *descriptor)

template<typename F >
void	add_factor_descriptor (F *factor)

template<typename D >
void	add_descriptor (D *descriptor)

bool	initialize_optimization (const uint8_t level)

void	deactivate_unused_vertices (const uint8_t level)

bool	build_structure ()

void	compute_error ()

T	chi2 ()

void	linearize (StreamPool &streams)

void	apply_update (const T *delta_x, StreamPool &streams)

void	backup_parameters ()

void	revert_parameters ()

void	clear ()

void	scale_system (const bool enable_scaling)

Private Attributes
std::vector< BaseVertexDescriptor< T, S > * >	vertex_descriptors

std::vector< BaseFactorDescriptor< T, S > * >	factor_descriptors

thrust::device_vector< T >	b

thrust::device_vector< T >	jacobian_scales

size_t	hessian_column

std::vector< size_t >	hessian_offsets

bool	scale_jacobians

Detailed Description

template<typename T, typename S>
class graphite::Graph< T, S >

Graph class which stores references to vertex and factor descriptors, and provides methods for optimization.

Template Parameters

T	Scalar type (e.g., double, float) representing the precision of the vertices and constraints.
S	Scalar type (e.g., double, Point2D) representing the precision of the linear system.

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

Public Member Functions