g2o::EdgeSE3WriteGnuplotAction Class Reference

Output the pose-pose constraint to Gnuplot data file. More...

#include <edge_se3.h>

Inheritance diagram for g2o::EdgeSE3WriteGnuplotAction:

Collaboration diagram for g2o::EdgeSE3WriteGnuplotAction:

Public Member Functions
	EdgeSE3WriteGnuplotAction ()
virtual HyperGraphElementAction *	operator() (HyperGraph::HyperGraphElement *element, HyperGraphElementAction::Parameters *params_)
Public Member Functions inherited from g2o::WriteGnuplotAction
	WriteGnuplotAction (const std::string &typeName_)
Public Member Functions inherited from g2o::HyperGraphElementAction
	HyperGraphElementAction (const std::string &typeName_="")
virtual HyperGraphElementAction *	operator() (const HyperGraph::HyperGraphElement *element, Parameters *parameters)
virtual	~HyperGraphElementAction ()
const std::string &	typeName () const
	returns the typeid name of the action
const std::string &	name () const
	returns the name of an action, e.g "draw"
void	setTypeName (const std::string &typeName_)
	sets the type on which an action has to operate

Additional Inherited Members
Public Types inherited from g2o::HyperGraphElementAction
typedef std::shared_ptr< HyperGraphElementAction >	HyperGraphElementActionPtr
typedef std::map< std::string, HyperGraphElementActionPtr >	ActionMap
Protected Attributes inherited from g2o::HyperGraphElementAction
std::string	_typeName
std::string	_name

Detailed Description

Output the pose-pose constraint to Gnuplot data file.

Definition at line 92 of file edge_se3.h.

Constructor & Destructor Documentation

EdgeSE3WriteGnuplotAction()

g2o::EdgeSE3WriteGnuplotAction::EdgeSE3WriteGnuplotAction

(

)

Definition at line 101 of file edge_se3.cpp.

    : WriteGnuplotAction(typeid(EdgeSE3).name()) {}

Member Function Documentation

operator()()

HyperGraphElementAction * g2o::EdgeSE3WriteGnuplotAction::operator() ( HyperGraph::HyperGraphElement *  element, HyperGraphElementAction::Parameters *  parameters  )

virtual

redefine this to do the action stuff. If successful, the action returns a pointer to itself

Reimplemented from g2o::HyperGraphElementAction.

Definition at line 104 of file edge_se3.cpp.

                                                {
  if (typeid(*element).name() != _typeName) return nullptr;
  WriteGnuplotAction::Parameters* params =
      static_cast<WriteGnuplotAction::Parameters*>(params_);
  if (!params->os) {
    return nullptr;
  }
 
  EdgeSE3* e = static_cast<EdgeSE3*>(element);
  VertexSE3* fromEdge = static_cast<VertexSE3*>(e->vertices()[0]);
  VertexSE3* toEdge = static_cast<VertexSE3*>(e->vertices()[1]);
  Vector6 fromV, toV;
  fromV = internal::toVectorMQT(fromEdge->estimate());
  toV = internal::toVectorMQT(toEdge->estimate());
  for (int i = 0; i < 6; i++) {
    *(params->os) << fromV[i] << " ";
  }
  for (int i = 0; i < 6; i++) {
    *(params->os) << toV[i] << " ";
  }
  *(params->os) << std::endl;
  return this;
}

References g2o::HyperGraphElementAction::_typeName, g2o::BaseVertex< D, T >::estimate(), g2o::WriteGnuplotAction::Parameters::os, g2o::internal::toVectorMQT(), and g2o::HyperGraph::Edge::vertices().

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

• /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.h
• /build/reproducible-path/g2o-0~20230806/g2o/types/slam3d/edge_se3.cpp