sensor_pose3d_offset.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 G. Grisetti, R. Kuemmerle, W. Burgard
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are
// met:
//
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#ifndef G2O_SENSOR_POSE3D_OFFSET_H_
#define G2O_SENSOR_POSE3D_OFFSET_H_
#include "simulator3d_base.h"
#include "pointsensorparameters.h"

namespace g2o {

  class SensorPose3DOffset : public PointSensorParameters, public BinarySensor<Robot3D, EdgeSE3Offset, WorldObjectSE3>  { 
  public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    SensorPose3DOffset(const std::string& name_);
    virtual void sense();
    int stepsToIgnore() const {return _stepsToIgnore;}
    void setStepsToIgnore(int stepsToIgnore_) {_stepsToIgnore = stepsToIgnore_;}
    void addNoise(EdgeType* e);
    virtual void addParameters();
    ParameterSE3Offset* offsetParam1() {return _offsetParam1;};
    ParameterSE3Offset* offsetParam2() {return _offsetParam2;};

  protected:
    
    bool isVisible(WorldObjectType* to);
    int _stepsToIgnore;
    ParameterSE3Offset* _offsetParam1, *_offsetParam2;

    // these are temporaries
    std::set<PoseObject*> _posesToIgnore;
  };

}

#endif