g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ > Class Template Reference

#include <simulator.h>

Inheritance diagram for g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >:

Collaboration diagram for g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >:

Public Types
typedef RobotType_	RobotType
typedef RobotType::PoseObject	PoseObject
typedef RobotType::TrajectoryType	TrajectoryType
typedef RobotType::PoseObject::VertexType	PoseVertexType
typedef EdgeType_	EdgeType
typedef WorldObjectType_	WorldObjectType
typedef WorldObjectType::VertexType	VertexType
typedef EdgeType::InformationType	InformationType

Public Member Functions
	BinarySensor (const std::string &name)
void	setInformation (const InformationType &information_)
const InformationType &	information ()
virtual void	sense ()
Public Member Functions inherited from g2o::BaseSensor
	BaseSensor (const std::string &name_)
BaseRobot *	robot ()
void	setRobot (BaseRobot *robot_)
World *	world ()
OptimizableGraph *	graph ()
std::vector< Parameter * >	parameters ()
virtual void	addParameters ()

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Protected Member Functions
EdgeType *	mkEdge (WorldObjectType *object)
virtual void	addNoise (EdgeType *)

Protected Attributes
PoseObject *	_robotPoseObject
InformationType	_information
GaussianSampler< typename EdgeType::ErrorVector, InformationType >	_sampler
Protected Attributes inherited from g2o::BaseSensor
std::string	_name
std::vector< Parameter * >	_parameters
BaseRobot *	_robot

Detailed Description

template<class RobotType_, class EdgeType_, class WorldObjectType_>
class g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >

Definition at line 205 of file simulator.h.

Member Typedef Documentation

template<class RobotType_, class EdgeType_, class WorldObjectType_>

typedef EdgeType_ g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >::EdgeType

Definition at line 212 of file simulator.h.

template<class RobotType_, class EdgeType_, class WorldObjectType_>

typedef EdgeType::InformationType g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >::InformationType

Definition at line 215 of file simulator.h.

template<class RobotType_, class EdgeType_, class WorldObjectType_>

typedef RobotType::PoseObject g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >::PoseObject

Definition at line 209 of file simulator.h.

template<class RobotType_, class EdgeType_, class WorldObjectType_>

typedef RobotType::PoseObject::VertexType g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >::PoseVertexType

Definition at line 211 of file simulator.h.

template<class RobotType_, class EdgeType_, class WorldObjectType_>

typedef RobotType_ g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >::RobotType

Definition at line 208 of file simulator.h.

template<class RobotType_, class EdgeType_, class WorldObjectType_>

typedef RobotType::TrajectoryType g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >::TrajectoryType

Definition at line 210 of file simulator.h.

template<class RobotType_, class EdgeType_, class WorldObjectType_>

typedef WorldObjectType::VertexType g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >::VertexType

Definition at line 214 of file simulator.h.

template<class RobotType_, class EdgeType_, class WorldObjectType_>

typedef WorldObjectType_ g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >::WorldObjectType

Definition at line 213 of file simulator.h.

Constructor & Destructor Documentation

template<class RobotType_, class EdgeType_, class WorldObjectType_>

g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >::BinarySensor ( const std::string &  name )

inline

Definition at line 217 of file simulator.h.

                                       : BaseSensor(name) {
      _information.setIdentity();
    }

Member Function Documentation

template<class RobotType_, class EdgeType_, class WorldObjectType_>

virtual void g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >::addNoise ( EdgeType *  )

inlineprotectedvirtual

Reimplemented in g2o::SensorPointXYZDisparity, g2o::SensorPointLine3D, g2o::SensorPointXYZ, g2o::SensorPointXYZDepth, g2o::SensorPointXYOffset, g2o::SensorPose3D, g2o::SensorSegment2D, g2o::SensorSegment2DLine, g2o::SensorSegment2DPointLine, g2o::SensorPointXY, g2o::SensorPose2D, g2o::SensorPose3DOffset, g2o::SensorOdometry2D, g2o::SensorOdometry3D, and g2o::SensorPointXYBearing.

Definition at line 272 of file simulator.h.

{};

template<class RobotType_, class EdgeType_, class WorldObjectType_>

const InformationType& g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >::information ( )

inline

Definition at line 226 of file simulator.h.

Referenced by main().

{return _information; }

template<class RobotType_, class EdgeType_, class WorldObjectType_>

EdgeType* g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >::mkEdge ( WorldObjectType *  object )

inlineprotected

Definition at line 263 of file simulator.h.

                                             {
      PoseVertexType* robotVertex = (PoseVertexType*)_robotPoseObject->vertex();
      EdgeType* e = new EdgeType();
      e->vertices()[0]=robotVertex;
      e->vertices()[1]=object->vertex();
      e->information().setIdentity();
      return e;
    }

template<class RobotType_, class EdgeType_, class WorldObjectType_>

virtual void g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >::sense ( )

inlinevirtual

Implements g2o::BaseSensor.

Reimplemented in g2o::SensorPointXYBearing, g2o::SensorPointXYOffset, g2o::SensorPointXYZDisparity, g2o::SensorSegment2D, g2o::SensorSegment2DLine, g2o::SensorSegment2DPointLine, g2o::SensorPointLine3D, g2o::SensorPointXY, g2o::SensorPointXYZ, g2o::SensorPointXYZDepth, g2o::SensorPose2D, g2o::SensorOdometry2D, g2o::SensorOdometry3D, g2o::SensorPose3D, g2o::SensorOdometry< R, E, O >, and g2o::SensorPose3DOffset.

Definition at line 228 of file simulator.h.

                         {
      _robotPoseObject = 0;
      // set the robot pose
      if (! robot())
        return;

      RobotType* r =dynamic_cast<RobotType*>(robot());
      if (!r)
        return;

      if(! r->trajectory().empty())
        _robotPoseObject = *(r->trajectory().rbegin());

      if (! world() || ! graph())
        return;

      // naive search. just for initial testing
      for(std::set<BaseWorldObject*>::iterator it=world()->objects().begin(); it!=world()->objects().end(); it++){
        WorldObjectType * wo = dynamic_cast<WorldObjectType*>(*it);
        if (wo){
          EdgeType* e=mkEdge(wo);
          if (e) {
            e->setMeasurementFromState();
            addNoise(e);
            graph()->addEdge(e);
          }
        }
      }
    }

template<class RobotType_, class EdgeType_, class WorldObjectType_>

void g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >::setInformation ( const InformationType &  information_ )

inline

Definition at line 221 of file simulator.h.

Referenced by main().

                                                              {
      _information = information_ ;
      _sampler.setDistribution(_information.inverse());
    }

Member Data Documentation

template<class RobotType_, class EdgeType_, class WorldObjectType_>

InformationType g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >::_information

protected

Definition at line 261 of file simulator.h.

template<class RobotType_, class EdgeType_, class WorldObjectType_>

PoseObject* g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >::_robotPoseObject

protected

Definition at line 260 of file simulator.h.

template<class RobotType_, class EdgeType_, class WorldObjectType_>

GaussianSampler<typename EdgeType::ErrorVector, InformationType> g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >::_sampler

protected

Definition at line 271 of file simulator.h.

template<class RobotType_, class EdgeType_, class WorldObjectType_>

g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 207 of file simulator.h.

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

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