g2o::UnarySensor< RobotType_, EdgeType_ > Class Template Reference

#include <simulator.h>

Inheritance diagram for g2o::UnarySensor< RobotType_, EdgeType_ >:

Collaboration diagram for g2o::UnarySensor< RobotType_, EdgeType_ >:

Public Types
typedef RobotType_	RobotType
typedef RobotType::PoseObject	PoseObject
typedef RobotType::TrajectoryType	TrajectoryType
typedef RobotType::PoseObject::VertexType	PoseVertexType
typedef EdgeType_	EdgeType
typedef EdgeType::InformationType	InformationType

Public Member Functions
	UnarySensor (const std::string &name)
void	setInformation (const InformationType &information_)
const InformationType &	information ()
virtual void	sense ()
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

Protected Member Functions
EdgeType *	mkEdge ()
virtual void	addNoise (EdgeType *)

Protected Attributes
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

template<class RobotType_, class EdgeType_>
class g2o::UnarySensor< RobotType_, EdgeType_ >

Definition at line 177 of file simulator.h.

Member Typedef Documentation

EdgeType

template<class RobotType_ , class EdgeType_ >

typedef EdgeType_ g2o::UnarySensor< RobotType_, EdgeType_ >::EdgeType

Definition at line 184 of file simulator.h.

InformationType

template<class RobotType_ , class EdgeType_ >

typedef EdgeType::InformationType g2o::UnarySensor< RobotType_, EdgeType_ >::InformationType

Definition at line 185 of file simulator.h.

PoseObject

template<class RobotType_ , class EdgeType_ >

typedef RobotType::PoseObject g2o::UnarySensor< RobotType_, EdgeType_ >::PoseObject

Definition at line 181 of file simulator.h.

PoseVertexType

template<class RobotType_ , class EdgeType_ >

typedef RobotType::PoseObject::VertexType g2o::UnarySensor< RobotType_, EdgeType_ >::PoseVertexType

Definition at line 183 of file simulator.h.

RobotType

template<class RobotType_ , class EdgeType_ >

typedef RobotType_ g2o::UnarySensor< RobotType_, EdgeType_ >::RobotType

Definition at line 180 of file simulator.h.

TrajectoryType

template<class RobotType_ , class EdgeType_ >

typedef RobotType::TrajectoryType g2o::UnarySensor< RobotType_, EdgeType_ >::TrajectoryType

Definition at line 182 of file simulator.h.

Constructor & Destructor Documentation

UnarySensor()

template<class RobotType_ , class EdgeType_ >

g2o::UnarySensor< RobotType_, EdgeType_ >::UnarySensor ( const std::string &  name )

inline

Definition at line 187 of file simulator.h.

                                     : BaseSensor(name) {
    _information.setIdentity();
  }

References g2o::UnarySensor< RobotType_, EdgeType_ >::_information.

Member Function Documentation

addNoise()

template<class RobotType_ , class EdgeType_ >

virtual void g2o::UnarySensor< RobotType_, EdgeType_ >::addNoise ( EdgeType *  )

inlineprotectedvirtual

Definition at line 231 of file simulator.h.

{};

Referenced by g2o::UnarySensor< RobotType_, EdgeType_ >::sense().

information()

template<class RobotType_ , class EdgeType_ >

const InformationType & g2o::UnarySensor< RobotType_, EdgeType_ >::information ( )

inline

Definition at line 196 of file simulator.h.

{ return _information; }

References g2o::UnarySensor< RobotType_, EdgeType_ >::_information.

mkEdge()

template<class RobotType_ , class EdgeType_ >

EdgeType * g2o::UnarySensor< RobotType_, EdgeType_ >::mkEdge ( )

inlineprotected

Definition at line 223 of file simulator.h.

                     {
    PoseVertexType* robotVertex = (PoseVertexType*)_robotPoseObject->vertex();
    EdgeType* e = new EdgeType();
    e->vertices()[0] = robotVertex;
    e->information().setIdentity();
    return e;
  }

References g2o::UnarySensor< RobotType_, EdgeType_ >::_robotPoseObject.

Referenced by g2o::UnarySensor< RobotType_, EdgeType_ >::sense().

sense()

template<class RobotType_ , class EdgeType_ >

virtual void g2o::UnarySensor< RobotType_, EdgeType_ >::sense ( )

inlinevirtual

Implements g2o::BaseSensor.

Reimplemented in g2o::SensorSE3Prior.

Definition at line 198 of file simulator.h.

                       {
    _robotPoseObject = 0;
    // set the robot pose
    if (!robot()) return;
 
    RobotType* r = dynamic_cast<RobotType*>(robot());
    if (!r) return;
 
    if (!r->trajectory().empty())
      _robotPoseObject = *(r->trajectory().rbegin());
 
    if (!world() || !graph()) return;
 
    EdgeType* e = mkEdge();
    if (e) {
      e->setMeasurementFromState();
      addNoise(e);
      graph()->addEdge(e);
    }
  }

References g2o::UnarySensor< RobotType_, EdgeType_ >::_robotPoseObject, g2o::OptimizableGraph::addEdge(), g2o::UnarySensor< RobotType_, EdgeType_ >::addNoise(), g2o::BaseSensor::graph(), g2o::UnarySensor< RobotType_, EdgeType_ >::mkEdge(), g2o::BaseSensor::robot(), and g2o::BaseSensor::world().

setInformation()

template<class RobotType_ , class EdgeType_ >

void g2o::UnarySensor< RobotType_, EdgeType_ >::setInformation ( const InformationType &  information_ )

inline

Definition at line 191 of file simulator.h.

                                                           {
    _information = information_;
    _sampler.setDistribution(_information.inverse());
  }

References g2o::UnarySensor< RobotType_, EdgeType_ >::_information, g2o::UnarySensor< RobotType_, EdgeType_ >::_sampler, and g2o::GaussianSampler< SampleType, CovarianceType >::setDistribution().

Member Data Documentation

_information

template<class RobotType_ , class EdgeType_ >

InformationType g2o::UnarySensor< RobotType_, EdgeType_ >::_information

protected

Definition at line 221 of file simulator.h.

Referenced by g2o::UnarySensor< RobotType_, EdgeType_ >::information(), g2o::UnarySensor< RobotType_, EdgeType_ >::setInformation(), and g2o::UnarySensor< RobotType_, EdgeType_ >::UnarySensor().

_robotPoseObject

template<class RobotType_ , class EdgeType_ >

PoseObject* g2o::UnarySensor< RobotType_, EdgeType_ >::_robotPoseObject

protected

Definition at line 220 of file simulator.h.

Referenced by g2o::UnarySensor< RobotType_, EdgeType_ >::mkEdge(), and g2o::UnarySensor< RobotType_, EdgeType_ >::sense().

_sampler

template<class RobotType_ , class EdgeType_ >

GaussianSampler<typename EdgeType::ErrorVector, InformationType> g2o::UnarySensor< RobotType_, EdgeType_ >::_sampler

protected

Definition at line 230 of file simulator.h.

Referenced by g2o::UnarySensor< RobotType_, EdgeType_ >::setInformation().

EIGEN_MAKE_ALIGNED_OPERATOR_NEW

template<class RobotType_ , class EdgeType_ >

g2o::UnarySensor< RobotType_, EdgeType_ >::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 179 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