g2o::BaseRobot Class Reference

#include <simulator.h>

Inheritance diagram for g2o::BaseRobot:

Collaboration diagram for g2o::BaseRobot:

Public Member Functions
	BaseRobot (World *world_, const std::string &name_)
void	setWorld (World *world_)
World *	world () const
const std::string &	name () const
OptimizableGraph *	graph () const
bool	addSensor (BaseSensor *sensor)
const std::set< BaseSensor * >	sensors ()
virtual void	sense ()

Protected Attributes
World *	_world
std::set< BaseSensor * >	_sensors
std::string	_name

Detailed Description

Definition at line 83 of file simulator.h.

Constructor & Destructor Documentation

BaseRobot()

g2o::BaseRobot::BaseRobot ( World *  world_, const std::string &  name_  )

inline

Definition at line 85 of file simulator.h.

                                                   {
    _world = world_;
    _name = name_;
  }

Member Function Documentation

addSensor()

bool g2o::BaseRobot::addSensor

(

BaseSensor *

sensor

)

Definition at line 51 of file simulator.cpp.

                                            {
  assert(graph());
  std::pair<std::set<BaseSensor*>::iterator, bool> result =
      _sensors.insert(sensor);
  if (result.second) {
    sensor->setRobot(this);
    sensor->addParameters();
  }
  return result.second;
}

References _sensors, g2o::BaseSensor::addParameters(), graph(), and g2o::BaseSensor::setRobot().

graph()

OptimizableGraph * g2o::BaseRobot::graph

(

)

const

Definition at line 46 of file simulator.cpp.

                                         {
  if (_world) return _world->graph();
  return 0;
}

References _world, and g2o::World::graph().

Referenced by addSensor(), g2o::BaseSensor::graph(), LineSensor::LineSensor(), Robot::move(), PlaneSensor::PlaneSensor(), LineSensor::sense(), and PlaneSensor::sense().

name()

const std::string & g2o::BaseRobot::name ( ) const

inline

Definition at line 91 of file simulator.h.

{ return _name; }

sense()

void g2o::BaseRobot::sense ( )

virtual

Definition at line 62 of file simulator.cpp.

                      {
  for (std::set<BaseSensor*>::iterator it = _sensors.begin();
       it != _sensors.end(); ++it) {
    BaseSensor* s = *it;
    s->sense();
  }
}

References _sensors, and g2o::BaseSensor::sense().

Referenced by Simulator::sense().

sensors()

const std::set< BaseSensor * > g2o::BaseRobot::sensors ( )

inline

Definition at line 94 of file simulator.h.

{ return _sensors; }

setWorld()

void g2o::BaseRobot::setWorld ( World *  world_ )

inline

Definition at line 89 of file simulator.h.

{ _world = world_; }

Referenced by g2o::World::addRobot().

world()

World * g2o::BaseRobot::world ( ) const

inline

Definition at line 90 of file simulator.h.

{ return _world; }

Referenced by g2o::Robot< RobotPoseObject >::move(), and g2o::BaseSensor::world().

Member Data Documentation

_name

std::string g2o::BaseRobot::_name

protected

Definition at line 100 of file simulator.h.

_sensors

std::set<BaseSensor*> g2o::BaseRobot::_sensors

protected

Definition at line 99 of file simulator.h.

Referenced by addSensor(), main(), sense(), and Robot::sense().

_world

World* g2o::BaseRobot::_world

protected

Definition at line 98 of file simulator.h.

Referenced by graph().

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

• /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/simulator.h
• /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/simulator.cpp