g2o::EdgeSE3WriteGnuplotAction Class Reference

Output the pose-pose constraint to Gnuplot data file. More...

#include <edge_se3.h>

Inheritance diagram for g2o::EdgeSE3WriteGnuplotAction:

Collaboration diagram for g2o::EdgeSE3WriteGnuplotAction:

Public Member Functions
	EdgeSE3WriteGnuplotAction ()
virtual HyperGraphElementAction *	operator() (HyperGraph::HyperGraphElement *element, HyperGraphElementAction::Parameters *params_)
	redefine this to do the action stuff. If successful, the action returns a pointer to itself More...
Public Member Functions inherited from g2o::WriteGnuplotAction
	WriteGnuplotAction (const std::string &typeName_)
Public Member Functions inherited from g2o::HyperGraphElementAction
	HyperGraphElementAction (const std::string &typeName_="")
virtual HyperGraphElementAction *	operator() (const HyperGraph::HyperGraphElement *element, Parameters *parameters)
	redefine this to do the action stuff. If successful, the action returns a pointer to itself More...
virtual	~HyperGraphElementAction ()
	destroyed actions release the memory More...
const std::string &	typeName () const
	returns the typeid name of the action More...
const std::string &	name () const
	returns the name of an action, e.g "draw" More...
void	setTypeName (const std::string &typeName_)
	sets the type on which an action has to operate More...

Additional Inherited Members
Public Types inherited from g2o::HyperGraphElementAction
typedef std::map< std::string, HyperGraphElementAction * >	ActionMap
Protected Attributes inherited from g2o::HyperGraphElementAction
std::string	_typeName
std::string	_name

Detailed Description

Output the pose-pose constraint to Gnuplot data file.

Definition at line 64 of file edge_se3.h.

Constructor & Destructor Documentation

g2o::EdgeSE3WriteGnuplotAction::EdgeSE3WriteGnuplotAction

(

)

Definition at line 92 of file edge_se3.cpp.

: WriteGnuplotAction(typeid(EdgeSE3).name()){}

Member Function Documentation

HyperGraphElementAction * g2o::EdgeSE3WriteGnuplotAction::operator() ( HyperGraph::HyperGraphElement *  element, HyperGraphElementAction::Parameters *  parameters  )

virtual

redefine this to do the action stuff. If successful, the action returns a pointer to itself

Reimplemented from g2o::HyperGraphElementAction.

Definition at line 94 of file edge_se3.cpp.

References __PRETTY_FUNCTION__, g2o::HyperGraphElementAction::_typeName, g2o::BaseVertex< D, T >::estimate(), g2o::HyperGraphElementAction::name(), g2o::WriteGnuplotAction::Parameters::os, POSE_EDGE_COLOR, g2o::internal::toVectorMQT(), and g2o::HyperGraph::Edge::vertices().

                                                                                                                                                {
    if (typeid(*element).name()!=_typeName)
      return 0;
    WriteGnuplotAction::Parameters* params=static_cast<WriteGnuplotAction::Parameters*>(params_);
    if (!params->os){
      std::cerr << __PRETTY_FUNCTION__ << ": warning, on valid os specified" << std::endl;
      return 0;
    }

    EdgeSE3* e =  static_cast<EdgeSE3*>(element);
    VertexSE3* fromEdge = static_cast<VertexSE3*>(e->vertices()[0]);
    VertexSE3* toEdge   = static_cast<VertexSE3*>(e->vertices()[1]);
    Vector6d fromV, toV;
    fromV=internal::toVectorMQT(fromEdge->estimate());
    toV=internal::toVectorMQT(toEdge->estimate());
    for (int i=0; i<6; i++){
      *(params->os) << fromV[i] << " ";
    }
    for (int i=0; i<6; i++){
      *(params->os) << toV[i] << " ";
    }
    *(params->os) << std::endl;
    return this;
  }

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

• /home/xuezhisd/CLionProjects/g2o/g2o/types/slam3d/edge_se3.h
• /home/xuezhisd/CLionProjects/g2o/g2o/types/slam3d/edge_se3.cpp