g2o::ParameterSE2Offset Class Reference

offset for an SE2 More...

#include <parameter_se2_offset.h>

Inheritance diagram for g2o::ParameterSE2Offset:

Collaboration diagram for g2o::ParameterSE2Offset:

Public Member Functions
	ParameterSE2Offset ()
virtual bool	read (std::istream &is)
	read the data from a stream More...
virtual bool	write (std::ostream &os) const
	write the data to a stream More...
void	setOffset (const SE2 &offset_=SE2())
const SE2 &	offset () const
const Isometry2D &	offsetMatrix () const
	rotation of the offset as 2x2 rotation matrix More...
const Isometry2D &	inverseOffsetMatrix () const
	rotation of the inverse offset as 2x2 rotation matrix More...
Public Member Functions inherited from g2o::Parameter
	Parameter ()
virtual	~Parameter ()
int	id () const
void	setId (int id_)
virtual HyperGraph::HyperGraphElementType	elementType () const
Public Member Functions inherited from g2o::HyperGraph::HyperGraphElement
virtual	~HyperGraphElement ()
HyperGraphElement *	clone () const

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Protected Attributes
SE2	_offset
Isometry2D	_offsetMatrix
Isometry2D	_inverseOffsetMatrix
Protected Attributes inherited from g2o::Parameter
int	_id

Detailed Description

offset for an SE2

Definition at line 46 of file parameter_se2_offset.h.

Constructor & Destructor Documentation

g2o::ParameterSE2Offset::ParameterSE2Offset

(

)

Definition at line 36 of file parameter_se2_offset.cpp.

References setOffset().

                                        {
    setOffset();
  }

Member Function Documentation

const Isometry2D& g2o::ParameterSE2Offset::inverseOffsetMatrix ( ) const

inline

rotation of the inverse offset as 2x2 rotation matrix

Definition at line 67 of file parameter_se2_offset.h.

{ return _inverseOffsetMatrix;}

const SE2& g2o::ParameterSE2Offset::offset ( ) const

inline

Definition at line 61 of file parameter_se2_offset.h.

Referenced by g2o::EdgeSE2Offset::initialEstimate(), g2o::SensorPointXYOffset::sense(), and g2o::CacheSE2Offset::updateImpl().

{ return _offset;}

const Isometry2D& g2o::ParameterSE2Offset::offsetMatrix ( ) const

inline

rotation of the offset as 2x2 rotation matrix

Definition at line 64 of file parameter_se2_offset.h.

Referenced by g2o::EdgeSE2PointXYOffset::initialEstimate().

{ return _offsetMatrix;}

bool g2o::ParameterSE2Offset::read ( std::istream &  is )

virtual

read the data from a stream

Implements g2o::Parameter.

Definition at line 47 of file parameter_se2_offset.cpp.

References setOffset().

                                              {
    Vector3D off;
    for (int i=0; i<3; i++) {
      is >> off[i];
      std::cerr << off[i] << " " ;
    }
    std::cerr <<  std::endl;
    setOffset(SE2(off));
    return is.good() || is.eof();
  }

void g2o::ParameterSE2Offset::setOffset

(

const SE2 &

offset_ = SE2()

)

update the offset to a new value. re-calculates the different representations, e.g., the rotation matrix

Definition at line 40 of file parameter_se2_offset.cpp.

References _inverseOffsetMatrix, _offset, _offsetMatrix, g2o::SE2::rotation(), and g2o::SE2::translation().

Referenced by ParameterSE2Offset(), and read().

                                                      {
    _offset = offset_;
    _offsetMatrix= _offset.rotation().toRotationMatrix();
    _offsetMatrix.translation() = _offset.translation();
    _inverseOffsetMatrix = _offsetMatrix.inverse();
  }

bool g2o::ParameterSE2Offset::write ( std::ostream &  os ) const

virtual

write the data to a stream

Implements g2o::Parameter.

Definition at line 58 of file parameter_se2_offset.cpp.

References _offset, and g2o::SE2::toVector().

                                                     {
    Vector3D off = _offset.toVector();
    for (int i=0; i<3; i++)
      os << off[i] << " ";
    return os.good();
  }

Member Data Documentation

Isometry2D g2o::ParameterSE2Offset::_inverseOffsetMatrix

protected

Definition at line 72 of file parameter_se2_offset.h.

Referenced by setOffset().

SE2 g2o::ParameterSE2Offset::_offset

protected

Definition at line 70 of file parameter_se2_offset.h.

Referenced by setOffset(), and write().

Isometry2D g2o::ParameterSE2Offset::_offsetMatrix

protected

Definition at line 71 of file parameter_se2_offset.h.

Referenced by setOffset().

g2o::ParameterSE2Offset::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 49 of file parameter_se2_offset.h.

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

• /home/xuezhisd/CLionProjects/g2o/g2o/types/slam2d/parameter_se2_offset.h
• /home/xuezhisd/CLionProjects/g2o/g2o/types/slam2d/parameter_se2_offset.cpp