g2o::SensorSegment2DPointLine Class Reference

#include <sensor_segment2d_pointline.h>

Inheritance diagram for g2o::SensorSegment2DPointLine:

Collaboration diagram for g2o::SensorSegment2DPointLine:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	SensorSegment2DPointLine (const std::string &name_)
virtual void	sense ()
virtual void	addNoise (EdgeType *e)
Public Member Functions inherited from g2o::PointSensorParameters
	PointSensorParameters ()
double	maxRange () const
void	setMaxRange (double maxRange_)
double	minRange () const
void	setMinRange (double minRange_)
double	fov () const
void	setFov (double fov_)
double	maxAngularDifference () const
void	setMaxAngularDifference (double angularDifference)
Public Member Functions inherited from g2o::BinarySensor< Robot2D, EdgeSE2Segment2DPointLine, WorldObjectSegment2D >
	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 ()

Protected Member Functions
bool	isVisible (WorldObjectType *to)
Protected Member Functions inherited from g2o::BinarySensor< Robot2D, EdgeSE2Segment2DPointLine, WorldObjectSegment2D >
EdgeType *	mkEdge (WorldObjectType *object)
virtual void	addNoise (EdgeType *)

Protected Attributes
int	_visiblePoint
Protected Attributes inherited from g2o::PointSensorParameters
double	_maxRange2
double	_minRange2
double	_fov
double	_maxAngularDifference
Protected Attributes inherited from g2o::BinarySensor< Robot2D, EdgeSE2Segment2DPointLine, WorldObjectSegment2D >
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

Additional Inherited Members
Public Types inherited from g2o::BinarySensor< Robot2D, EdgeSE2Segment2DPointLine, WorldObjectSegment2D >
typedef Robot2D	RobotType
typedef RobotType::PoseObject	PoseObject
typedef RobotType::TrajectoryType	TrajectoryType
typedef RobotType::PoseObject::VertexType	PoseVertexType
typedef EdgeSE2Segment2DPointLine	EdgeType
typedef WorldObjectSegment2D	WorldObjectType
typedef WorldObjectType::VertexType	VertexType
typedef EdgeType::InformationType	InformationType
Public Attributes inherited from g2o::BinarySensor< Robot2D, EdgeSE2Segment2DPointLine, WorldObjectSegment2D >
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Detailed Description

Definition at line 37 of file sensor_segment2d_pointline.h.

Constructor & Destructor Documentation

SensorSegment2DPointLine()

g2o::SensorSegment2DPointLine::SensorSegment2DPointLine

(

const std::string &

name_

)

Definition at line 37 of file sensor_segment2d_pointline.cpp.

    : BinarySensor<Robot2D, EdgeSE2Segment2DPointLine, WorldObjectSegment2D>(
          name_),
      _visiblePoint(0) {}

Member Function Documentation

addNoise()

void g2o::SensorSegment2DPointLine::addNoise ( EdgeType *  e )

virtual

Definition at line 42 of file sensor_segment2d_pointline.cpp.

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

References g2o::BinarySensor< Robot2D, EdgeSE2Segment2DPointLine, WorldObjectSegment2D >::_sampler, g2o::GaussianSampler< SampleType, CovarianceType >::generateSample(), and g2o::BinarySensor< Robot2D, EdgeSE2Segment2DPointLine, WorldObjectSegment2D >::information().

Referenced by sense().

isVisible()

bool g2o::SensorSegment2DPointLine::isVisible ( WorldObjectType *  to )

protected

Definition at line 48 of file sensor_segment2d_pointline.cpp.

                                                 {
  if (!_robotPoseObject) return false;
 
  assert(to && to->vertex());
  VertexType* v = to->vertex();
 
  Vector2d p1, p2;
  SE2 iRobot = _robotPoseObject->vertex()->estimate().inverse();
  p1 = iRobot * v->estimateP1();
  p2 = iRobot * v->estimateP2();
 
  Vector3d vp1(p1.x(), p1.y(), 0.);
  Vector3d vp2(p2.x(), p2.y(), 0.);
  Vector3d cp = vp1.cross(vp2);  // visibility check
  if (cp[2] < 0) return false;
 
  int circleClip = clipSegmentCircle(p1, p2, sqrt(_maxRange2));
  bool clip1 = false, clip2 = false;
  switch (circleClip) {
    case -1:
      return false;
    case 0:
      clip1 = true;
      break;
    case 1:
      clip2 = true;
      break;
    case 3:
      clip1 = true;
      clip2 = true;
      break;
    default:;
  }
 
  int fovClip = clipSegmentFov(p1, p2, -_fov, +_fov);
  switch (fovClip) {
    case -1:
      return false;
    case 0:
      clip1 = true;
      break;
    case 1:
      clip2 = true;
      break;
    case 3:
      clip1 = true;
      clip2 = true;
      break;
    default:;
  }
  if ((clip1 && !clip2)) {
    _visiblePoint = 1;
    return true;
  }
  if ((!clip1 && clip2)) {
    _visiblePoint = 0;
    return true;
  }
  return false;
}

References g2o::PointSensorParameters::_fov, g2o::PointSensorParameters::_maxRange2, g2o::BinarySensor< Robot2D, EdgeSE2Segment2DPointLine, WorldObjectSegment2D >::_robotPoseObject, _visiblePoint, g2o::clipSegmentCircle(), g2o::clipSegmentFov(), and g2o::SE2::inverse().

Referenced by sense().

sense()

void g2o::SensorSegment2DPointLine::sense ( )

virtual

Reimplemented from g2o::BinarySensor< Robot2D, EdgeSE2Segment2DPointLine, WorldObjectSegment2D >.

Definition at line 110 of file sensor_segment2d_pointline.cpp.

                                     {
  _robotPoseObject = 0;
  RobotType* r = dynamic_cast<RobotType*>(robot());
  std::list<PoseObject*>::reverse_iterator it = r->trajectory().rbegin();
  int count = 0;
  while (it != r->trajectory().rend() && count < 1) {
    if (!_robotPoseObject) _robotPoseObject = *it;
    ++it;
    count++;
  }
  for (std::set<BaseWorldObject*>::iterator it = world()->objects().begin();
       it != world()->objects().end(); ++it) {
    WorldObjectType* o = dynamic_cast<WorldObjectType*>(*it);
    if (o && isVisible(o)) {
      EdgeType* e = mkEdge(o);
      if (e && graph()) {
        e->setPointNum(_visiblePoint);
        e->setMeasurementFromState();
        addNoise(e);
        graph()->addEdge(e);
      }
    }
  }
}

References g2o::BinarySensor< Robot2D, EdgeSE2Segment2DPointLine, WorldObjectSegment2D >::_robotPoseObject, _visiblePoint, g2o::OptimizableGraph::addEdge(), addNoise(), g2o::BaseSensor::graph(), isVisible(), g2o::BinarySensor< Robot2D, EdgeSE2Segment2DPointLine, WorldObjectSegment2D >::mkEdge(), g2o::World::objects(), g2o::BaseSensor::robot(), and g2o::BaseSensor::world().

Member Data Documentation

_visiblePoint

int g2o::SensorSegment2DPointLine::_visiblePoint

protected

Definition at line 49 of file sensor_segment2d_pointline.h.

Referenced by isVisible(), and sense().

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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/sensor_segment2d_pointline.h
• /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_segment2d_pointline.cpp