本文整理汇总了C++中optimizablegraph::Vertex::oplus方法的典型用法代码示例。如果您正苦于以下问题：C++ Vertex::oplus方法的具体用法？C++ Vertex::oplus怎么用？C++ Vertex::oplus使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类optimizablegraph::Vertex的用法示例。
在下文中一共展示了Vertex::oplus方法的2个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: update
void SparseOptimizer::update(double* update)
{
// update the graph by calling oplus on the vertices
for (size_t i=0; i < _ivMap.size(); ++i)
{
OptimizableGraph::Vertex* v = _ivMap[i];
v->oplus(update);
update += v->dimension();
}
}示例2: computeError
void BaseMultiEdge<D, E>::linearizeOplus()
{
#ifdef G2O_OPENMP
for (size_t i = 0; i < _vertices.size(); ++i) {
OptimizableGraph::Vertex* v = static_cast<OptimizableGraph::Vertex*>(_vertices[i]);
v->lockQuadraticForm();
}
#endif
const double delta = 1e-9;
const double scalar = 1.0 / (2*delta);
ErrorVector errorBak;
ErrorVector errorBeforeNumeric = _error;
for (size_t i = 0; i < _vertices.size(); ++i) {
//Xi - estimate the jacobian numerically
OptimizableGraph::Vertex* vi = static_cast<OptimizableGraph::Vertex*>(_vertices[i]);
if (vi->fixed())
continue;
const int vi_dim = vi->dimension();
#ifdef _MSC_VER
double* add_vi = new double[vi_dim];
#else
double add_vi[vi_dim];
#endif
std::fill(add_vi, add_vi + vi_dim, 0.0);
if (_jacobianOplus[i].rows() != _dimension || _jacobianOplus[i].cols() != vi_dim)
_jacobianOplus[i].resize(_dimension, vi_dim);
// add small step along the unit vector in each dimension
for (int d = 0; d < vi_dim; ++d) {
vi->push();
add_vi[d] = delta;
vi->oplus(add_vi);
computeError();
errorBak = _error;
vi->pop();
vi->push();
add_vi[d] = -delta;
vi->oplus(add_vi);
computeError();
errorBak -= _error;
vi->pop();
add_vi[d] = 0.0;
_jacobianOplus[i].col(d) = scalar * errorBak;
} // end dimension
#ifdef _MSC_VER
delete[] add_vi;
#endif
}
_error = errorBeforeNumeric;
#ifdef G2O_OPENMP
for (int i = (int)(_vertices.size()) - 1; i >= 0; --i) {
OptimizableGraph::Vertex* v = static_cast<OptimizableGraph::Vertex*>(_vertices[i]);
v->unlockQuadraticForm();
}
#endif
}