g2o
sensor_pointxy.h
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1 // g2o - General Graph Optimization
2 // Copyright (C) 2011 G. Grisetti, R. Kuemmerle, W. Burgard
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26 
27 #ifndef G2O_SENSOR_POINTXY_H_
28 #define G2O_SENSOR_POINTXY_H_
29 
30 #include "simulator2d_base.h"
31 #include "pointsensorparameters.h"
32 #include "g2o_simulator_api.h"
33 
34 namespace g2o {
35 
36  class G2O_SIMULATOR_API SensorPointXY: public PointSensorParameters, public BinarySensor<Robot2D, EdgeSE2PointXY, WorldObjectPointXY>{
37  public:
38  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
39  SensorPointXY(const std::string& name_);
40  virtual void sense();
41  virtual void addNoise(EdgeType* e);
42  protected:
43  bool isVisible(WorldObjectType* to);
44  };
45 
46 }
47 
48 #endif
#define G2O_SIMULATOR_API