Simulator Struct Reference

Inheritance diagram for Simulator:

Collaboration diagram for Simulator:

Public Member Functions
	Simulator (OptimizableGraph *graph_)
void	sense (int robotIndex)
void	move (int robotIndex, const Isometry3d &newRobotPose)
void	relativeMove (int robotIndex, const Isometry3d &delta)
Public Member Functions inherited from SimulatorItem
	SimulatorItem (OptimizableGraph *graph_)
OptimizableGraph *	graph ()
virtual	~SimulatorItem ()

Public Attributes
int	_lastVertexId
WorldItemSet	_world
RobotVector	_robots

Additional Inherited Members
Protected Attributes inherited from SimulatorItem
OptimizableGraph *	_graph

Detailed Description

Definition at line 160 of file simulator_3d_plane.cpp.

Constructor & Destructor Documentation

Simulator::Simulator ( OptimizableGraph *  graph_ )

inline

Definition at line 161 of file simulator_3d_plane.cpp.

: SimulatorItem(graph_), _lastVertexId(0){}

Member Function Documentation

void Simulator::move ( int  robotIndex, const Isometry3d &  newRobotPose  )

inline

Definition at line 170 of file simulator_3d_plane.cpp.

References g2o::Robot< RobotPoseObject >::move().

Referenced by main().

                                                           {
    Robot* r=_robots[robotIndex];
    r->move(newRobotPose, _lastVertexId);
  }

void Simulator::relativeMove ( int  robotIndex, const Isometry3d &  delta  )

inline

Definition at line 175 of file simulator_3d_plane.cpp.

References g2o::Robot< RobotPoseObject >::relativeMove().

Referenced by main().

                                                            {
    Robot* r=_robots[robotIndex];
    r->relativeMove(delta, _lastVertexId);
  }

void Simulator::sense ( int  robotIndex )

inline

Definition at line 162 of file simulator_3d_plane.cpp.

References g2o::BaseRobot::sense().

Referenced by main().

                            {
    Robot* r=_robots[robotIndex];
    for (WorldItemSet::iterator it=_world.begin(); it!=_world.end(); it++){
      WorldItem* item=*it;
      r->sense(item);
    }
  }

Member Data Documentation

int Simulator::_lastVertexId

Definition at line 180 of file simulator_3d_plane.cpp.

Referenced by main().

RobotVector Simulator::_robots

Definition at line 182 of file simulator_3d_plane.cpp.

Referenced by main().

WorldItemSet Simulator::_world

Definition at line 181 of file simulator_3d_plane.cpp.

Referenced by main().

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The documentation for this struct was generated from the following file:

• /home/xuezhisd/CLionProjects/g2o/g2o/examples/plane_slam/simulator_3d_plane.cpp