g2o::ParameterSE2Offset Class Reference

offset for an SE2 More...

#include <parameter_se2_offset.h>

Inheritance diagram for g2o::ParameterSE2Offset:

Collaboration diagram for g2o::ParameterSE2Offset:

Public Member Functions
	ParameterSE2Offset ()
virtual bool	read (std::istream &is)
	read the data from a stream
virtual bool	write (std::ostream &os) const
	write the data to a stream
void	setOffset (const SE2 &offset_=SE2())
const SE2 &	offset () const
const Isometry2 &	offsetMatrix () const
	rotation of the offset as 2x2 rotation matrix
const Isometry2 &	inverseOffsetMatrix () const
	rotation of the inverse offset as 2x2 rotation matrix
Public Member Functions inherited from g2o::Parameter
	Parameter ()
virtual	~Parameter ()
int	id () const
void	setId (int id_)
virtual HyperGraph::HyperGraphElementType	elementType () const
Public Member Functions inherited from g2o::HyperGraph::HyperGraphElement
virtual	~HyperGraphElement ()

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Protected Attributes
SE2	_offset
Isometry2	_offsetMatrix
Isometry2	_inverseOffsetMatrix
Protected Attributes inherited from g2o::Parameter
int	_id

Detailed Description

offset for an SE2

Definition at line 41 of file parameter_se2_offset.h.

Constructor & Destructor Documentation

ParameterSE2Offset()

g2o::ParameterSE2Offset::ParameterSE2Offset

(

)

Definition at line 38 of file parameter_se2_offset.cpp.

{ setOffset(); }

References setOffset().

Member Function Documentation

inverseOffsetMatrix()

const Isometry2 & g2o::ParameterSE2Offset::inverseOffsetMatrix ( ) const

inline

rotation of the inverse offset as 2x2 rotation matrix

Definition at line 61 of file parameter_se2_offset.h.

{ return _inverseOffsetMatrix; }

offset()

const SE2 & g2o::ParameterSE2Offset::offset ( ) const

inline

Definition at line 55 of file parameter_se2_offset.h.

{ return _offset; }

Referenced by g2o::EdgeSE2Offset::initialEstimate(), g2o::SensorPointXYOffset::sense(), g2o::CacheSE2Offset::updateImpl(), and write().

offsetMatrix()

const Isometry2 & g2o::ParameterSE2Offset::offsetMatrix ( ) const

inline

rotation of the offset as 2x2 rotation matrix

Definition at line 58 of file parameter_se2_offset.h.

{ return _offsetMatrix; }

Referenced by g2o::EdgeSE2PointXYOffset::initialEstimate().

read()

bool g2o::ParameterSE2Offset::read ( std::istream &  is )

virtual

read the data from a stream

Implements g2o::Parameter.

Definition at line 47 of file parameter_se2_offset.cpp.

                                            {
  Vector3 off;
  bool state = g2o::internal::readVector(is, off);
  setOffset(SE2(off));
  return state;
}

References g2o::internal::readVector(), and setOffset().

setOffset()

void g2o::ParameterSE2Offset::setOffset

(

const SE2 &

offset_ = SE2()

)

update the offset to a new value. re-calculates the different representations, e.g., the rotation matrix

Definition at line 40 of file parameter_se2_offset.cpp.

                                                     {
  _offset = offset_;
  _offsetMatrix = _offset.rotation().toRotationMatrix();
  _offsetMatrix.translation() = _offset.translation();
  _inverseOffsetMatrix = _offsetMatrix.inverse();
}

References _inverseOffsetMatrix, _offset, _offsetMatrix, g2o::SE2::rotation(), and g2o::SE2::translation().

Referenced by ParameterSE2Offset(), and read().

write()

bool g2o::ParameterSE2Offset::write ( std::ostream &  os ) const

virtual

write the data to a stream

Implements g2o::Parameter.

Definition at line 54 of file parameter_se2_offset.cpp.

                                                   {
  return internal::writeVector(os, offset().toVector());
}

References offset(), and g2o::internal::writeVector().

Member Data Documentation

_inverseOffsetMatrix

Isometry2 g2o::ParameterSE2Offset::_inverseOffsetMatrix

protected

Definition at line 66 of file parameter_se2_offset.h.

Referenced by setOffset().

_offset

SE2 g2o::ParameterSE2Offset::_offset

protected

Definition at line 64 of file parameter_se2_offset.h.

Referenced by setOffset().

_offsetMatrix

Isometry2 g2o::ParameterSE2Offset::_offsetMatrix

protected

Definition at line 65 of file parameter_se2_offset.h.

Referenced by setOffset().

EIGEN_MAKE_ALIGNED_OPERATOR_NEW

g2o::ParameterSE2Offset::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 43 of file parameter_se2_offset.h.

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

• /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/parameter_se2_offset.h
• /build/reproducible-path/g2o-0~20230806/g2o/types/slam2d/parameter_se2_offset.cpp