g2o::SensorOdometry< R, E, O > Class Template Reference

#include <sensor_odometry.h>

Inheritance diagram for g2o::SensorOdometry< R, E, O >:

Collaboration diagram for g2o::SensorOdometry< R, E, O >:

Public Member Functions
	SensorOdometry (const std::string name_)
virtual EIGEN_MAKE_ALIGNED_OPERATOR_NEW void	sense ()
Public Member Functions inherited from g2o::BinarySensor< R, E, O >
	BinarySensor (const std::string &name)
void	setInformation (const InformationType &information_)
const InformationType &	information ()
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 ()

Additional Inherited Members
Public Types inherited from g2o::BinarySensor< R, E, O >
typedef R	RobotType
typedef RobotType::PoseObject	PoseObject
typedef RobotType::TrajectoryType	TrajectoryType
typedef RobotType::PoseObject::VertexType	PoseVertexType
typedef E	EdgeType
typedef O	WorldObjectType
typedef WorldObjectType::VertexType	VertexType
typedef EdgeType::InformationType	InformationType
Public Attributes inherited from g2o::BinarySensor< R, E, O >
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Protected Member Functions inherited from g2o::BinarySensor< R, E, O >
EdgeType *	mkEdge (WorldObjectType *object)
virtual void	addNoise (EdgeType *)
Protected Attributes inherited from g2o::BinarySensor< R, E, O >
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 R, class E, class O>
class g2o::SensorOdometry< R, E, O >

Definition at line 34 of file sensor_odometry.h.

Constructor & Destructor Documentation

template<class R , class E , class O >

g2o::SensorOdometry< R, E, O >::SensorOdometry ( const std::string  name_ )

inline

Definition at line 36 of file sensor_odometry.h.

References g2o::BinarySensor< R, E, O >::EIGEN_MAKE_ALIGNED_OPERATOR_NEW.

: BinarySensor<R, E, O> (name_){};

Member Function Documentation

template<class R , class E , class O >

virtual EIGEN_MAKE_ALIGNED_OPERATOR_NEW void g2o::SensorOdometry< R, E, O >::sense ( )

inlinevirtual

Reimplemented from g2o::BinarySensor< R, E, O >.

Definition at line 38 of file sensor_odometry.h.

References __PRETTY_FUNCTION__, g2o::BinarySensor< R, E, O >::_robotPoseObject, g2o::OptimizableGraph::addEdge(), g2o::BinarySensor< R, E, O >::addNoise(), g2o::BaseSensor::graph(), g2o::BinarySensor< R, E, O >::mkEdge(), and g2o::BaseSensor::robot().

                        {
      if (!  BinarySensor<R, E, O>::robot())
  return;
      
      typename BinarySensor<R, E, O>::RobotType* r =dynamic_cast<typename BinarySensor<R, E, O>::RobotType*>(robot());
      if (!r)
  return;
      
      PoseObject* pprev=0, *pcurr=0;
      std::list<PoseObject*>::reverse_iterator it=r->trajectory().rbegin();
      if (it!=r->trajectory().rend()){
  pcurr = *it; 
  it++;
      }
      if (it!=r->trajectory().rend()){
  pprev = *it; 
  it++;
      }
      if (!(pcurr&&pprev)) {
  cerr << __PRETTY_FUNCTION__ << ": fatal, trajectory empty" << endl;
  return;
      }
      _robotPoseObject = pprev;
      EdgeType* e=mkEdge(pcurr);
      if (e){
  addNoise(e);
  if (graph())
    graph()->addEdge(e);
      }
    _robotPoseObject = pcurr;
    
    }

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

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