g2o::SensorOdometry2D Class Reference

#include <sensor_odometry2d.h>

Inheritance diagram for g2o::SensorOdometry2D:

Collaboration diagram for g2o::SensorOdometry2D:

Public Member Functions
	SensorOdometry2D (const std::string &name_)
virtual void	sense ()
virtual void	addNoise (EdgeType *e)
Public Member Functions inherited from g2o::BinarySensor< Robot2D, EdgeSE2, WorldObjectSE2 >
	BinarySensor (const std::string &name)
void	setInformation (const InformationType &information_)
const InformationType &	information ()
Public Member Functions inherited from g2o::BaseSensor
	BaseSensor (const std::string &name_)
BaseRobot *	robot ()
void	setRobot (BaseRobot *robot_)
World *	world () const
OptimizableGraph *	graph () const
const std::vector< Parameter * > &	parameters ()
virtual void	addParameters ()

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Robot2D::PoseObject	PoseObject
Public Attributes inherited from g2o::BinarySensor< Robot2D, EdgeSE2, WorldObjectSE2 >
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Additional Inherited Members
Public Types inherited from g2o::BinarySensor< Robot2D, EdgeSE2, WorldObjectSE2 >
typedef Robot2D	RobotType
typedef RobotType::PoseObject	PoseObject
typedef RobotType::TrajectoryType	TrajectoryType
typedef RobotType::PoseObject::VertexType	PoseVertexType
typedef EdgeSE2	EdgeType
typedef WorldObjectSE2	WorldObjectType
typedef WorldObjectType::VertexType	VertexType
typedef EdgeType::InformationType	InformationType
Protected Member Functions inherited from g2o::BinarySensor< Robot2D, EdgeSE2, WorldObjectSE2 >
EdgeType *	mkEdge (WorldObjectType *object)
virtual void	addNoise (EdgeType *)
Protected Attributes inherited from g2o::BinarySensor< Robot2D, EdgeSE2, WorldObjectSE2 >
PoseObject *	_robotPoseObject
InformationType	_information
GaussianSampler< typename EdgeType::ErrorVector, InformationType >	_sampler
Protected Attributes inherited from g2o::BaseSensor
std::string	_name
std::vector< Parameter * >	_parameters
BaseRobot *	_robot

Detailed Description

Definition at line 34 of file sensor_odometry2d.h.

Constructor & Destructor Documentation

SensorOdometry2D()

g2o::SensorOdometry2D::SensorOdometry2D

(

const std::string &

name_

)

Definition at line 36 of file sensor_odometry2d.cpp.

    : BinarySensor<Robot2D, EdgeSE2, WorldObjectSE2>(name_) {}

Member Function Documentation

addNoise()

void g2o::SensorOdometry2D::addNoise ( EdgeType *  e )

virtual

Definition at line 69 of file sensor_odometry2d.cpp.

                                           {
  EdgeType::ErrorVector noise = _sampler.generateSample();
  EdgeType::Measurement n;
  n.fromVector(noise);
  e->setMeasurement(e->measurement() * n);
  e->setInformation(information());
}

References g2o::BinarySensor< Robot2D, EdgeSE2, WorldObjectSE2 >::_sampler, g2o::GaussianSampler< SampleType, CovarianceType >::generateSample(), and g2o::BinarySensor< Robot2D, EdgeSE2, WorldObjectSE2 >::information().

Referenced by sense().

sense()

void g2o::SensorOdometry2D::sense ( )

virtual

Reimplemented from g2o::BinarySensor< Robot2D, EdgeSE2, WorldObjectSE2 >.

Definition at line 39 of file sensor_odometry2d.cpp.

                             {
  if (!robot()) return;
 
  RobotType* r = dynamic_cast<RobotType*>(robot());
  if (!r) return;
 
  PoseObject *pprev = 0, *pcurr = 0;
  std::list<PoseObject*>::reverse_iterator it = r->trajectory().rbegin();
  if (it != r->trajectory().rend()) {
    pcurr = *it;
    ++it;
  }
  if (it != r->trajectory().rend()) {
    pprev = *it;
    ++it;
  }
  if (!(pcurr && pprev)) {
    cerr << __PRETTY_FUNCTION__ << ": fatal, trajectory empty" << endl;
    return;
  }
  _robotPoseObject = pprev;
  EdgeType* e = mkEdge(pcurr);
  if (e) {
    e->setMeasurementFromState();
    addNoise(e);
    if (graph()) graph()->addEdge(e);
  }
  _robotPoseObject = pcurr;
}

References __PRETTY_FUNCTION__, g2o::BinarySensor< Robot2D, EdgeSE2, WorldObjectSE2 >::_robotPoseObject, g2o::OptimizableGraph::addEdge(), addNoise(), g2o::BaseSensor::graph(), g2o::BinarySensor< Robot2D, EdgeSE2, WorldObjectSE2 >::mkEdge(), and g2o::BaseSensor::robot().

Member Data Documentation

PoseObject

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Robot2D::PoseObject g2o::SensorOdometry2D::PoseObject

Definition at line 38 of file sensor_odometry2d.h.

---

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

• /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_odometry2d.h
• /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_odometry2d.cpp