SlamParser::SlamContextInterface Class Reference

#include <slam_context_interface.h>

Inheritance diagram for SlamParser::SlamContextInterface:

Collaboration diagram for SlamParser::SlamContextInterface:

Public Member Functions
	SlamContextInterface (AbstractSlamInterface *slam)
	~SlamContextInterface ()
bool	process (CommandNode *commandNode)
Public Member Functions inherited from SlamParser::SlamContext
	SlamContext ()
virtual	~SlamContext ()

Protected Attributes
AbstractSlamInterface *	_slam

Detailed Description

Definition at line 36 of file slam_context_interface.h.

Constructor & Destructor Documentation

SlamParser::SlamContextInterface::SlamContextInterface

(

AbstractSlamInterface *

slam

)

Definition at line 37 of file slam_context_interface.cpp.

                                                                        :
    SlamContext(),
    _slam(slam)
  {
  }

SlamParser::SlamContextInterface::~SlamContextInterface

(

)

Definition at line 43 of file slam_context_interface.cpp.

  {
  }

Member Function Documentation

bool SlamParser::SlamContextInterface::process ( CommandNode *  commandNode )

virtual

Reimplemented from SlamParser::SlamContext.

Definition at line 47 of file slam_context_interface.cpp.

References _slam, SlamParser::AbstractSlamInterface::addEdge(), SlamParser::AbstractSlamInterface::addNode(), SlamParser::CommandNode::commandType(), SlamParser::CT_ADD_EDGE, SlamParser::CT_ADD_NODE, SlamParser::CT_FIX, SlamParser::CT_QUERY_STATE, SlamParser::CT_SOLVE_STATE, SlamParser::AddNode::dimension(), SlamParser::AddEdge::dimension(), SlamParser::AbstractSlamInterface::fixNode(), SlamParser::AddNode::id(), SlamParser::AddEdge::id(), SlamParser::AddEdge::id1(), SlamParser::AddEdge::id2(), SlamParser::QueryState::ids(), SlamParser::FixNode::ids(), SlamParser::AddEdge::information(), SlamParser::AbstractSlamInterface::queryState(), SlamParser::AbstractSlamInterface::solveState(), SlamParser::CommandNode::tag(), SlamParser::AddNode::values(), and SlamParser::AddEdge::values().

  {
    if (! _slam) {
      return true;
    }
    switch (commandNode->commandType()) {
      case CT_ADD_NODE:
        {
          AddNode* c = static_cast<AddNode*>(commandNode);
          return _slam->addNode(c->tag(), c->id(), c->dimension(), c->values());
        }
      case CT_ADD_EDGE:
        {
          AddEdge* c = static_cast<AddEdge*>(commandNode);
          return _slam->addEdge(c->tag(), c->id(), c->dimension(), c->id1(), c->id2(), c->values(), c->information());
        }
      case CT_SOLVE_STATE:
        {
          //SolveState* c = static_cast<SolveState*>(commandNode);
          return _slam->solveState();
        }
      case CT_QUERY_STATE:
        {
          QueryState* c = static_cast<QueryState*>(commandNode);
          return _slam->queryState(c->ids());
        }
      case CT_FIX:
        {
          FixNode* c = static_cast<FixNode*>(commandNode);
          return _slam->fixNode(c->ids());
        }
    }
    cerr << "SlamContextInterface::process: Unknown command type" << endl;
    return false;
  }

Member Data Documentation

AbstractSlamInterface* SlamParser::SlamContextInterface::_slam

protected

Definition at line 45 of file slam_context_interface.h.

Referenced by process().

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

• /home/xuezhisd/CLionProjects/g2o/g2o/examples/interactive_slam/slam_parser/interface/slam_context_interface.h
• /home/xuezhisd/CLionProjects/g2o/g2o/examples/interactive_slam/slam_parser/interface/slam_context_interface.cpp