g2o::Robot< RobotPoseObject > Class Template Reference

#include <simulator.h>

Inheritance diagram for g2o::Robot< RobotPoseObject >:

Collaboration diagram for g2o::Robot< RobotPoseObject >:

Public Types
typedef RobotPoseObject	PoseObject
typedef std::list< PoseObject * >	TrajectoryType
typedef PoseObject::VertexType	VertexType
typedef PoseObject::EstimateType	PoseType

Public Member Functions
	Robot (World *world_, const std::string &name_)
virtual void	relativeMove (const PoseType &movement_)
virtual void	move (const PoseType &pose_)
TrajectoryType &	trajectory ()
const PoseType &	pose () const
Public Member Functions inherited from g2o::BaseRobot
	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 ()

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Protected Attributes
TrajectoryType	_trajectory
PoseType	_pose
Protected Attributes inherited from g2o::BaseRobot
World *	_world
std::set< BaseSensor * >	_sensors
std::string	_name

Detailed Description

template<class RobotPoseObject>
class g2o::Robot< RobotPoseObject >

Definition at line 95 of file simulator.h.

Member Typedef Documentation

template<class RobotPoseObject >

typedef RobotPoseObject g2o::Robot< RobotPoseObject >::PoseObject

Definition at line 98 of file simulator.h.

template<class RobotPoseObject >

typedef PoseObject::EstimateType g2o::Robot< RobotPoseObject >::PoseType

Definition at line 101 of file simulator.h.

template<class RobotPoseObject >

typedef std::list<PoseObject*> g2o::Robot< RobotPoseObject >::TrajectoryType

Definition at line 99 of file simulator.h.

template<class RobotPoseObject >

typedef PoseObject::VertexType g2o::Robot< RobotPoseObject >::VertexType

Definition at line 100 of file simulator.h.

Constructor & Destructor Documentation

template<class RobotPoseObject >

g2o::Robot< RobotPoseObject >::Robot ( World *  world_, const std::string &  name_  )

inline

Definition at line 103 of file simulator.h.

: BaseRobot(world_, name_){}

Member Function Documentation

template<class RobotPoseObject >

virtual void g2o::Robot< RobotPoseObject >::move ( const PoseType &  pose_ )

inlinevirtual

Definition at line 109 of file simulator.h.

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

                                             {
      _pose=pose_;
      if (world()) {
        PoseObject* po=new PoseObject();
        po->vertex()->setEstimate(_pose);
        world()->addWorldObject(po);
        _trajectory.push_back(po);
      }
    }

template<class RobotPoseObject >

const PoseType& g2o::Robot< RobotPoseObject >::pose ( ) const

inline

Definition at line 120 of file simulator.h.

Referenced by main().

{return _pose;}

template<class RobotPoseObject >

virtual void g2o::Robot< RobotPoseObject >::relativeMove ( const PoseType &  movement_ )

inlinevirtual

Definition at line 104 of file simulator.h.

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

                                                         {
      _pose=_pose*movement_;
      move(_pose);
    }

template<class RobotPoseObject >

TrajectoryType& g2o::Robot< RobotPoseObject >::trajectory ( )

inline

Definition at line 119 of file simulator.h.

Referenced by g2o::SensorPose3DOffset::sense(), g2o::SensorOdometry2D::sense(), g2o::SensorOdometry3D::sense(), g2o::SensorPose3D::sense(), g2o::SensorPose2D::sense(), g2o::SensorPointXY::sense(), g2o::SensorPointXYZ::sense(), g2o::SensorSE3Prior::sense(), g2o::SensorPointXYZDepth::sense(), g2o::SensorPointXYBearing::sense(), g2o::SensorPointXYZDisparity::sense(), g2o::SensorSegment2DLine::sense(), g2o::SensorSegment2DPointLine::sense(), g2o::SensorPointXYOffset::sense(), g2o::SensorSegment2D::sense(), g2o::UnarySensor< Robot3D, EdgeSE3Prior >::sense(), and g2o::BinarySensor< Robot2D, EdgeSE2PointXY, WorldObjectPointXY >::sense().

{return _trajectory;}

Member Data Documentation

template<class RobotPoseObject >

PoseType g2o::Robot< RobotPoseObject >::_pose

protected

Definition at line 123 of file simulator.h.

template<class RobotPoseObject >

TrajectoryType g2o::Robot< RobotPoseObject >::_trajectory

protected

Definition at line 122 of file simulator.h.

template<class RobotPoseObject >

g2o::Robot< RobotPoseObject >::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 97 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