g2o::UnarySensor< RobotType_, EdgeType_ > Class Template Reference

#include <simulator.h>

Inheritance diagram for g2o::UnarySensor< RobotType_, EdgeType_ >:

Collaboration diagram for g2o::UnarySensor< RobotType_, EdgeType_ >:

Public Types
typedef RobotType_	RobotType
typedef RobotType::PoseObject	PoseObject
typedef RobotType::TrajectoryType	TrajectoryType
typedef RobotType::PoseObject::VertexType	PoseVertexType
typedef EdgeType_	EdgeType
typedef EdgeType::InformationType	InformationType

Public Member Functions
	UnarySensor (const std::string &name)
void	setInformation (const InformationType &information_)
const InformationType &	information ()
virtual void	sense ()
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

Protected Member Functions
EdgeType *	mkEdge ()
virtual void	addNoise (EdgeType *)

Protected Attributes
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 RobotType_, class EdgeType_>
class g2o::UnarySensor< RobotType_, EdgeType_ >

Definition at line 143 of file simulator.h.

Member Typedef Documentation

template<class RobotType_, class EdgeType_>

typedef EdgeType_ g2o::UnarySensor< RobotType_, EdgeType_ >::EdgeType

Definition at line 150 of file simulator.h.

template<class RobotType_, class EdgeType_>

typedef EdgeType::InformationType g2o::UnarySensor< RobotType_, EdgeType_ >::InformationType

Definition at line 151 of file simulator.h.

template<class RobotType_, class EdgeType_>

typedef RobotType::PoseObject g2o::UnarySensor< RobotType_, EdgeType_ >::PoseObject

Definition at line 147 of file simulator.h.

template<class RobotType_, class EdgeType_>

typedef RobotType::PoseObject::VertexType g2o::UnarySensor< RobotType_, EdgeType_ >::PoseVertexType

Definition at line 149 of file simulator.h.

template<class RobotType_, class EdgeType_>

typedef RobotType_ g2o::UnarySensor< RobotType_, EdgeType_ >::RobotType

Definition at line 146 of file simulator.h.

template<class RobotType_, class EdgeType_>

typedef RobotType::TrajectoryType g2o::UnarySensor< RobotType_, EdgeType_ >::TrajectoryType

Definition at line 148 of file simulator.h.

Constructor & Destructor Documentation

template<class RobotType_, class EdgeType_>

g2o::UnarySensor< RobotType_, EdgeType_ >::UnarySensor ( const std::string &  name )

inline

Definition at line 153 of file simulator.h.

                                      : BaseSensor(name) {
      _information.setIdentity();
    }

Member Function Documentation

template<class RobotType_, class EdgeType_>

virtual void g2o::UnarySensor< RobotType_, EdgeType_ >::addNoise ( EdgeType *  )

inlineprotectedvirtual

Reimplemented in g2o::SensorSE3Prior.

Definition at line 201 of file simulator.h.

{};

template<class RobotType_, class EdgeType_>

const InformationType& g2o::UnarySensor< RobotType_, EdgeType_ >::information ( )

inline

Definition at line 162 of file simulator.h.

{return _information; }

template<class RobotType_, class EdgeType_>

EdgeType* g2o::UnarySensor< RobotType_, EdgeType_ >::mkEdge ( )

inlineprotected

Definition at line 193 of file simulator.h.

                      {
      PoseVertexType* robotVertex = (PoseVertexType*)_robotPoseObject->vertex();
      EdgeType* e = new EdgeType();
      e->vertices()[0]=robotVertex;
      e->information().setIdentity();
      return e;
    }

template<class RobotType_, class EdgeType_>

virtual void g2o::UnarySensor< RobotType_, EdgeType_ >::sense ( )

inlinevirtual

Implements g2o::BaseSensor.

Reimplemented in g2o::SensorSE3Prior.

Definition at line 164 of file simulator.h.

                         {
      _robotPoseObject = 0;
      // set the robot pose
      if (! robot())
        return;

      RobotType* r =dynamic_cast<RobotType*>(robot());
      if (!r)
        return;

      if(! r->trajectory().empty())
        _robotPoseObject = *(r->trajectory().rbegin());

      if (! world() || ! graph())
        return;

      EdgeType* e=mkEdge();
      if (e) {
        e->setMeasurementFromState();
        addNoise(e);
        graph()->addEdge(e);
      }
    }

template<class RobotType_, class EdgeType_>

void g2o::UnarySensor< RobotType_, EdgeType_ >::setInformation ( const InformationType &  information_ )

inline

Definition at line 157 of file simulator.h.

                                                              {
      _information = information_ ;
      _sampler.setDistribution(_information.inverse());
    }

Member Data Documentation

template<class RobotType_, class EdgeType_>

InformationType g2o::UnarySensor< RobotType_, EdgeType_ >::_information

protected

Definition at line 191 of file simulator.h.

template<class RobotType_, class EdgeType_>

PoseObject* g2o::UnarySensor< RobotType_, EdgeType_ >::_robotPoseObject

protected

Definition at line 190 of file simulator.h.

template<class RobotType_, class EdgeType_>

GaussianSampler<typename EdgeType::ErrorVector, InformationType> g2o::UnarySensor< RobotType_, EdgeType_ >::_sampler

protected

Definition at line 200 of file simulator.h.

template<class RobotType_, class EdgeType_>

g2o::UnarySensor< RobotType_, EdgeType_ >::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 145 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