g2o::BaseRobot Class Reference

#include <simulator.h>

Inheritance diagram for g2o::BaseRobot:

Collaboration diagram for g2o::BaseRobot:

Public Member Functions
	BaseRobot (World *world_, const std::string &name_)
void	setWorld (World *world_)
World *	world ()
const std::string &	name () const
OptimizableGraph *	graph ()
bool	addSensor (BaseSensor *sensor)
const std::set< BaseSensor * >	sensors ()
virtual void	sense ()

Protected Attributes
World *	_world
std::set< BaseSensor * >	_sensors
std::string	_name

Detailed Description

Definition at line 78 of file simulator.h.

Constructor & Destructor Documentation

g2o::BaseRobot::BaseRobot ( World *  world_, const std::string &  name_  )

inline

Definition at line 80 of file simulator.h.

{_world = world_; _name = name_; }

Member Function Documentation

bool g2o::BaseRobot::addSensor

(

BaseSensor *

sensor

)

Definition at line 51 of file simulator.cpp.

References g2o::BaseSensor::addParameters(), graph, and g2o::BaseSensor::setRobot().

Referenced by main().

                                             {
    assert (graph());
    std::pair<std::set<BaseSensor*>::iterator, bool> result=_sensors.insert(sensor);
    if(result.second){
      sensor->setRobot(this);
      sensor->addParameters();
    }
    return result.second;
  }

OptimizableGraph * g2o::BaseRobot::graph

(

)

Definition at line 45 of file simulator.cpp.

References graph.

                                     {
    if (_world)
      return _world-> graph();
    return 0;
  }

const std::string& g2o::BaseRobot::name ( ) const

inline

Definition at line 83 of file simulator.h.

References graph.

{return _name;}

void g2o::BaseRobot::sense ( )

virtual

Definition at line 61 of file simulator.cpp.

References g2o::BaseSensor::sense().

Referenced by main(), and Simulator::sense().

                        {
    for (std::set<BaseSensor*>::iterator it=_sensors.begin(); it!=_sensors.end(); it++){
      BaseSensor* s=*it;
      s->sense();
    }
  }

const std::set<BaseSensor*> g2o::BaseRobot::sensors ( )

inline

Definition at line 86 of file simulator.h.

{return _sensors;}

void g2o::BaseRobot::setWorld ( World *  world_ )

inline

Definition at line 81 of file simulator.h.

Referenced by g2o::World::addRobot().

{_world = world_;}

World* g2o::BaseRobot::world ( )

inline

Definition at line 82 of file simulator.h.

{return _world;}

Member Data Documentation

std::string g2o::BaseRobot::_name

protected

Definition at line 91 of file simulator.h.

std::set<BaseSensor*> g2o::BaseRobot::_sensors

protected

Definition at line 90 of file simulator.h.

Referenced by main().

World* g2o::BaseRobot::_world

protected

Definition at line 89 of file simulator.h.

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

• /home/xuezhisd/CLionProjects/g2o/g2o/apps/g2o_simulator/simulator.h
• /home/xuezhisd/CLionProjects/g2o/g2o/apps/g2o_simulator/simulator.cpp