g2o
sensor_pointxyz.h
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1 // g2o - General Graph Optimization
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26 
27 #ifndef G2O_SENSOR_POINTXYZ_H_
28 #define G2O_SENSOR_POINTXYZ_H_
29 #include "simulator3d_base.h"
30 #include "pointsensorparameters.h"
31 #include "g2o_simulator_api.h"
32 
33 namespace g2o {
34 
35  class G2O_SIMULATOR_API SensorPointXYZ: public PointSensorParameters, public BinarySensor<Robot3D, EdgeSE3PointXYZ, WorldObjectTrackXYZ>{
36  public:
37  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
38  typedef PoseVertexType::EstimateType RobotPoseType;
39  SensorPointXYZ(const std::string& name_);
40  virtual void sense();
41  virtual void addParameters();
42  ParameterSE3Offset* offsetParam() {return _offsetParam;};
43  void addNoise(EdgeType* e);
44  protected:
45  bool isVisible(WorldObjectType* to);
46  RobotPoseType _sensorPose;
48  };
49 
50 }
51 
52 #endif
ParameterSE3Offset * _offsetParam
g2o edge from a track to a point node
RobotPoseType _sensorPose
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef PoseVertexType::EstimateType RobotPoseType
#define G2O_SIMULATOR_API
ParameterSE3Offset * offsetParam()