g2o::SensorOdometry2D Class Reference

#include <sensor_odometry2d.h>

Inheritance diagram for g2o::SensorOdometry2D:

Collaboration diagram for g2o::SensorOdometry2D:

Public Member Functions
	SensorOdometry2D (const std::string &name_)
virtual void	sense ()
virtual void	addNoise (EdgeType *e)
Public Member Functions inherited from g2o::BinarySensor< Robot2D, EdgeSE2, WorldObjectSE2 >
	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 ()

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Robot2D::PoseObject	PoseObject
Public Attributes inherited from g2o::BinarySensor< Robot2D, EdgeSE2, WorldObjectSE2 >
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Additional Inherited Members
Public Types inherited from g2o::BinarySensor< Robot2D, EdgeSE2, WorldObjectSE2 >
typedef Robot2D	RobotType
typedef RobotType::PoseObject	PoseObject
typedef RobotType::TrajectoryType	TrajectoryType
typedef RobotType::PoseObject::VertexType	PoseVertexType
typedef EdgeSE2	EdgeType
typedef WorldObjectSE2	WorldObjectType
typedef WorldObjectType::VertexType	VertexType
typedef EdgeType::InformationType	InformationType
Protected Member Functions inherited from g2o::BinarySensor< Robot2D, EdgeSE2, WorldObjectSE2 >
EdgeType *	mkEdge (WorldObjectType *object)
Protected Attributes inherited from g2o::BinarySensor< Robot2D, EdgeSE2, WorldObjectSE2 >
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

Definition at line 34 of file sensor_odometry2d.h.

Constructor & Destructor Documentation

g2o::SensorOdometry2D::SensorOdometry2D

(

const std::string &

name_

)

Definition at line 36 of file sensor_odometry2d.cpp.

                                                          :
    BinarySensor<Robot2D, EdgeSE2, WorldObjectSE2>(name_){}

Member Function Documentation

void g2o::SensorOdometry2D::addNoise ( EdgeType *  e )

virtual

Reimplemented from g2o::BinarySensor< Robot2D, EdgeSE2, WorldObjectSE2 >.

Definition at line 73 of file sensor_odometry2d.cpp.

References g2o::BinarySensor< Robot2D, EdgeSE2, WorldObjectSE2 >::_sampler, g2o::GaussianSampler< SampleType, CovarianceType >::generateSample(), g2o::BinarySensor< Robot2D, EdgeSE2, WorldObjectSE2 >::information(), g2o::BaseEdge< D, E >::measurement(), g2o::BaseEdge< D, E >::setInformation(), and g2o::EdgeSE2::setMeasurement().

Referenced by sense().

                                            {
    EdgeType::ErrorVector noise=_sampler.generateSample();
    EdgeType::Measurement n;
    n.fromVector(noise);
    e->setMeasurement(e->measurement()*n);
    e->setInformation(information());
  }

void g2o::SensorOdometry2D::sense ( )

virtual

Reimplemented from g2o::BinarySensor< Robot2D, EdgeSE2, WorldObjectSE2 >.

Definition at line 39 of file sensor_odometry2d.cpp.

References __PRETTY_FUNCTION__, g2o::BinarySensor< Robot2D, EdgeSE2, WorldObjectSE2 >::_robotPoseObject, g2o::OptimizableGraph::addEdge(), addNoise(), g2o::BaseSensor::graph(), g2o::BinarySensor< Robot2D, EdgeSE2, WorldObjectSE2 >::mkEdge(), g2o::BaseSensor::robot(), g2o::EdgeSE2::setMeasurementFromState(), and g2o::Robot< RobotPoseObject >::trajectory().

                              {
    
    if (! robot())
      return;
    
    RobotType* r =dynamic_cast<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){
      e->setMeasurementFromState();
      addNoise(e);
      if (graph())
    graph()->addEdge(e);
    }
    _robotPoseObject = pcurr;
  }

Member Data Documentation

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Robot2D::PoseObject g2o::SensorOdometry2D::PoseObject

Definition at line 37 of file sensor_odometry2d.h.

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

• /home/xuezhisd/CLionProjects/g2o/g2o/apps/g2o_simulator/sensor_odometry2d.h
• /home/xuezhisd/CLionProjects/g2o/g2o/apps/g2o_simulator/sensor_odometry2d.cpp