g2o::Robot< RobotPoseObject > Class Template Reference

#include <simulator.h>

Inheritance diagram for g2o::Robot< RobotPoseObject >:

Collaboration diagram for g2o::Robot< RobotPoseObject >:

Public Types
typedef RobotPoseObject	PoseObject
typedef std::list< PoseObject * >	TrajectoryType
typedef PoseObject::VertexType	VertexType
typedef PoseObject::EstimateType	PoseType

Public Member Functions
	Robot (World *world_, const std::string &name_)
virtual void	relativeMove (const PoseType &movement_)
virtual void	move (const PoseType &pose_)
TrajectoryType &	trajectory ()
const PoseType &	pose () const
Public Member Functions inherited from g2o::BaseRobot
	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 ()

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Protected Attributes
TrajectoryType	_trajectory
PoseType	_pose
Protected Attributes inherited from g2o::BaseRobot
World *	_world
std::set< BaseSensor * >	_sensors
std::string	_name

Detailed Description

template<class RobotPoseObject>
class g2o::Robot< RobotPoseObject >

Definition at line 127 of file simulator.h.

Member Typedef Documentation

PoseObject

template<class RobotPoseObject >

typedef RobotPoseObject g2o::Robot< RobotPoseObject >::PoseObject

Definition at line 130 of file simulator.h.

PoseType

template<class RobotPoseObject >

typedef PoseObject::EstimateType g2o::Robot< RobotPoseObject >::PoseType

Definition at line 133 of file simulator.h.

TrajectoryType

template<class RobotPoseObject >

typedef std::list<PoseObject*> g2o::Robot< RobotPoseObject >::TrajectoryType

Definition at line 131 of file simulator.h.

VertexType

template<class RobotPoseObject >

typedef PoseObject::VertexType g2o::Robot< RobotPoseObject >::VertexType

Definition at line 132 of file simulator.h.

Constructor & Destructor Documentation

Robot()

template<class RobotPoseObject >

g2o::Robot< RobotPoseObject >::Robot ( World *  world_, const std::string &  name_  )

inline

Definition at line 135 of file simulator.h.

: BaseRobot(world_, name_) {}

Member Function Documentation

move()

template<class RobotPoseObject >

virtual void g2o::Robot< RobotPoseObject >::move ( const PoseType &  pose_ )

inlinevirtual

Definition at line 141 of file simulator.h.

                                           {
    _pose = pose_;
    if (world()) {
      PoseObject* po = new PoseObject();
      po->vertex()->setEstimate(_pose);
      world()->addWorldObject(po);
      _trajectory.push_back(po);
    }
  }

References g2o::Robot< RobotPoseObject >::_pose, g2o::Robot< RobotPoseObject >::_trajectory, g2o::World::addWorldObject(), and g2o::BaseRobot::world().

Referenced by Simulator::move(), Robot::relativeMove(), and g2o::Robot< RobotPoseObject >::relativeMove().

pose()

template<class RobotPoseObject >

const PoseType & g2o::Robot< RobotPoseObject >::pose ( ) const

inline

Definition at line 152 of file simulator.h.

{ return _pose; }

References g2o::Robot< RobotPoseObject >::_pose.

relativeMove()

template<class RobotPoseObject >

virtual void g2o::Robot< RobotPoseObject >::relativeMove ( const PoseType &  movement_ )

inlinevirtual

Definition at line 136 of file simulator.h.

                                                       {
    _pose = _pose * movement_;
    move(_pose);
  }

References g2o::Robot< RobotPoseObject >::_pose, and g2o::Robot< RobotPoseObject >::move().

Referenced by Simulator::relativeMove().

trajectory()

template<class RobotPoseObject >

TrajectoryType & g2o::Robot< RobotPoseObject >::trajectory ( )

inline

Definition at line 151 of file simulator.h.

{ return _trajectory; }

References g2o::Robot< RobotPoseObject >::_trajectory.

Member Data Documentation

_pose

template<class RobotPoseObject >

PoseType g2o::Robot< RobotPoseObject >::_pose

protected

Definition at line 156 of file simulator.h.

Referenced by g2o::Robot< RobotPoseObject >::move(), g2o::Robot< RobotPoseObject >::pose(), and g2o::Robot< RobotPoseObject >::relativeMove().

_trajectory

template<class RobotPoseObject >

TrajectoryType g2o::Robot< RobotPoseObject >::_trajectory

protected

Definition at line 155 of file simulator.h.

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

EIGEN_MAKE_ALIGNED_OPERATOR_NEW

template<class RobotPoseObject >

g2o::Robot< RobotPoseObject >::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 129 of file simulator.h.

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

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