g2o::World Class Reference

#include <simulator.h>

Collaboration diagram for g2o::World:

Public Member Functions
	World (OptimizableGraph *graph_)
OptimizableGraph *	graph ()
bool	addRobot (BaseRobot *robot)
bool	addWorldObject (BaseWorldObject *worldObject)
bool	addParameter (Parameter *p)
std::set< BaseWorldObject * > &	objects ()
std::set< BaseRobot * > &	robots ()

Protected Attributes
std::set< BaseWorldObject * >	_objects
std::set< BaseRobot * >	_robots
OptimizableGraph *	_graph
int	_runningId
int	_paramId

Detailed Description

Definition at line 275 of file simulator.h.

Constructor & Destructor Documentation

g2o::World::World ( OptimizableGraph *  graph_ )

inline

Definition at line 278 of file simulator.h.

{_graph = graph_; _runningId=0; _paramId=0;}

Member Function Documentation

bool g2o::World::addParameter

(

Parameter *

p

)

Definition at line 102 of file simulator.cpp.

References graph, and g2o::Parameter::setId().

Referenced by g2o::SensorPointXYZ::addParameters(), g2o::SensorSE3Prior::addParameters(), g2o::SensorPointXYZDepth::addParameters(), g2o::SensorPointXYZDisparity::addParameters(), g2o::SensorPose3DOffset::addParameters(), and g2o::SensorPointXYOffset::addParameters().

                                          {
    if ( !graph())
      return false;
    param->setId(_paramId);
    graph()->addParameter(param);
    _paramId++;
    return true;
  }

bool g2o::World::addRobot

(

BaseRobot *

robot

)

Definition at line 82 of file simulator.cpp.

References g2o::BaseRobot::setWorld().

Referenced by main().

                                      {
    std::pair<std::set<BaseRobot*>::iterator, bool> result=_robots.insert(robot);
    if (result.second){
      robot->setWorld(this);
    }
    return result.second;
  }

bool g2o::World::addWorldObject

(

BaseWorldObject *

worldObject

)

Definition at line 90 of file simulator.cpp.

References graph, and g2o::BaseWorldObject::vertex().

Referenced by main().

                                                   {
    std::pair<std::set<BaseWorldObject*>::iterator, bool> result=_objects.insert(object);
    if (result.second){
      object->setWorld(this);
    }
    if (graph() && object->vertex()){
      object->vertex()->setId(_runningId++);
      graph()->addVertex(object->vertex());
    }
    return result.second;
  }

OptimizableGraph* g2o::World::graph ( )

inline

Definition at line 279 of file simulator.h.

{return _graph;}

std::set<BaseWorldObject*>& g2o::World::objects ( )

inline

Definition at line 284 of file simulator.h.

Referenced by g2o::SensorPose3DOffset::sense(), g2o::SensorPose3D::sense(), g2o::SensorPointXY::sense(), g2o::SensorPointXYZ::sense(), g2o::SensorPointXYZDepth::sense(), g2o::SensorPose2D::sense(), g2o::SensorPointXYOffset::sense(), g2o::SensorPointXYZDisparity::sense(), g2o::SensorSegment2D::sense(), g2o::SensorSegment2DLine::sense(), g2o::SensorPointXYBearing::sense(), and g2o::SensorSegment2DPointLine::sense().

{return _objects;}

std::set<BaseRobot*>& g2o::World::robots ( )

inline

Definition at line 285 of file simulator.h.

{return _robots; }

Member Data Documentation

OptimizableGraph* g2o::World::_graph

protected

Definition at line 289 of file simulator.h.

std::set<BaseWorldObject*> g2o::World::_objects

protected

Definition at line 287 of file simulator.h.

int g2o::World::_paramId

protected

Definition at line 291 of file simulator.h.

std::set<BaseRobot*> g2o::World::_robots

protected

Definition at line 288 of file simulator.h.

int g2o::World::_runningId

protected

Definition at line 290 of file simulator.h.

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

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