TreeOptimizer2 Struct Reference

Inheritance diagram for TreeOptimizer2:

[legend]Collaboration diagram for TreeOptimizer2:

[legend]List of all members.

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Detailed Description

Class that contains the core optimization algorithm.

Definition at line 50 of file treeoptimizer2.hh.

Public Types
typedef std::vector< Pose >	PoseVector
Public Member Functions
	TreeOptimizer2 ()
virtual	~TreeOptimizer2 ()
void	initializeTreeParameters ()
void	initializeOptimization ()
void	initializeOnlineOptimization ()
void	iterate (TreePoseGraph2::EdgeSet *eset=0)
double	error () const
Protected Member Functions
void	computePreconditioner ()
void	propagateErrors ()
void	updatePoseChain (Vertex *v, Vertex *top)
Pose	getPose (Vertex *v, Vertex *top)
double	error (const Edge *e) const
Protected Attributes
int	iteration
double	gamma [3]
PoseVector	M

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Constructor & Destructor Documentation

TreeOptimizer2::TreeOptimizer2

(

)

Constructor

Definition at line 67 of file treeoptimizer2.cpp.

TreeOptimizer2::~TreeOptimizer2

(

)

[virtual]

Destructor

Definition at line 71 of file treeoptimizer2.cpp.

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Member Function Documentation

void TreeOptimizer2::initializeTreeParameters

(

)

Initialization function

Definition at line 74 of file treeoptimizer2.cpp.

void TreeOptimizer2::initializeOptimization

(

)

Initialization function

Definition at line 79 of file treeoptimizer2.cpp.

void TreeOptimizer2::initializeOnlineOptimization

(

)

Initialization function

Definition at line 95 of file treeoptimizer2.cpp.

void TreeOptimizer2::iterate

(

TreePoseGraph2::EdgeSet *

eset = 0

)

Performs one iteration of the algorithm

Definition at line 275 of file treeoptimizer2.cpp.

double TreeOptimizer2::error

(

)

const

Conmputes the gloabl error of the network

Definition at line 356 of file treeoptimizer2.cpp.

void TreeOptimizer2::computePreconditioner

(

)

[protected]

The first of the two main steps of each iteration

Definition at line 104 of file treeoptimizer2.cpp.

void TreeOptimizer2::propagateErrors

(

)

[protected]

The second of the two main steps of each iteration

Definition at line 159 of file treeoptimizer2.cpp.

void TreeOptimizer2::updatePoseChain	(	Vertex *	v,
		Vertex *	top
	)			[protected]

Recomputes the poses of all vertices from v to an arbitraty parent (top) of v in the tree

Definition at line 285 of file treeoptimizer2.cpp.

TreeOptimizer2::Pose TreeOptimizer2::getPose	(	Vertex *	v,
		Vertex *	top
	)			[protected]

Recomputes only the pose of the node v wrt. to an arbitraty parent (top) of v in the tree

Definition at line 295 of file treeoptimizer2.cpp.

double TreeOptimizer2::error

(

const Edge *

e

)

const [protected]

Conmputes the error of the constraint/edge e

Definition at line 311 of file treeoptimizer2.cpp.

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Member Data Documentation

int TreeOptimizer2::iteration [protected]

Iteration counter

Definition at line 93 of file treeoptimizer2.hh.

double TreeOptimizer2::gamma[3] [protected]

Used to compute the learning rate lambda

Definition at line 96 of file treeoptimizer2.hh.

PoseVector TreeOptimizer2::M [protected]

The diaginal block elements of the preconditioning matrix (D_k in the paper)

Definition at line 100 of file treeoptimizer2.hh.

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The documentation for this struct was generated from the following files:

• treeoptimizer2.hh
• treeoptimizer2.cpp

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