g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ > Class Template Reference

#include <simulator.h>

Inheritance diagram for g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >:

Collaboration diagram for g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >:

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

Public Member Functions
	BinarySensor (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 (WorldObjectType *object)
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 WorldObjectType_>
class g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >

Definition at line 235 of file simulator.h.

Member Typedef Documentation

EdgeType

template<class RobotType_, class EdgeType_, class WorldObjectType_>

typedef EdgeType_ g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >::EdgeType

Definition at line 242 of file simulator.h.

InformationType

template<class RobotType_, class EdgeType_, class WorldObjectType_>

typedef EdgeType::InformationType g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >::InformationType

Definition at line 245 of file simulator.h.

PoseObject

template<class RobotType_, class EdgeType_, class WorldObjectType_>

typedef RobotType::PoseObject g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >::PoseObject

Definition at line 239 of file simulator.h.

PoseVertexType

template<class RobotType_, class EdgeType_, class WorldObjectType_>

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

Definition at line 241 of file simulator.h.

RobotType

template<class RobotType_, class EdgeType_, class WorldObjectType_>

typedef RobotType_ g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >::RobotType

Definition at line 238 of file simulator.h.

TrajectoryType

template<class RobotType_, class EdgeType_, class WorldObjectType_>

typedef RobotType::TrajectoryType g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >::TrajectoryType

Definition at line 240 of file simulator.h.

VertexType

template<class RobotType_, class EdgeType_, class WorldObjectType_>

typedef WorldObjectType::VertexType g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >::VertexType

Definition at line 244 of file simulator.h.

WorldObjectType

template<class RobotType_, class EdgeType_, class WorldObjectType_>

typedef WorldObjectType_ g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >::WorldObjectType

Definition at line 243 of file simulator.h.

Constructor & Destructor Documentation

BinarySensor()

template<class RobotType_, class EdgeType_, class WorldObjectType_>

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

inline

Definition at line 247 of file simulator.h.

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

References _information, and g2o::BaseSensor::BaseSensor().

Member Function Documentation

addNoise()

template<class RobotType_, class EdgeType_, class WorldObjectType_>

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

inlineprotectedvirtual

Reimplemented in g2o::SensorPointLine3D.

Definition at line 299 of file simulator.h.

{};

Referenced by sense().

information()

template<class RobotType_, class EdgeType_, class WorldObjectType_>

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

inline

Definition at line 256 of file simulator.h.

{ return _information; }

References _information.

Referenced by main().

mkEdge()

template<class RobotType_, class EdgeType_, class WorldObjectType_>

EdgeType * g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >::mkEdge ( WorldObjectType * object )

inlineprotected

Definition at line 290 of file simulator.h.

                                            {
    PoseVertexType* robotVertex = (PoseVertexType*)_robotPoseObject->vertex();
    EdgeType* e = new EdgeType();
    e->vertices()[0] = robotVertex;
    e->vertices()[1] = object->vertex();
    e->information().setIdentity();
    return e;
  }

References _robotPoseObject.

Referenced by sense().

sense()

template<class RobotType_, class EdgeType_, class WorldObjectType_>

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

inlinevirtual

Implements g2o::BaseSensor.

Reimplemented in g2o::SensorOdometry2D, g2o::SensorOdometry3D, g2o::SensorOdometry< R, E, O >, g2o::SensorPointLine3D, g2o::SensorPointXY, g2o::SensorPointXYBearing, g2o::SensorPointXYOffset, g2o::SensorPointXYZ, g2o::SensorPointXYZDepth, g2o::SensorPointXYZDisparity, g2o::SensorPose2D, g2o::SensorPose3D, g2o::SensorPose3DOffset, g2o::SensorSegment2D, g2o::SensorSegment2DLine, and g2o::SensorSegment2DPointLine.

Definition at line 258 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;
 
    // naive search. just for initial testing
    for (std::set<BaseWorldObject*>::iterator it = world()->objects().begin();
         it != world()->objects().end(); ++it) {
      WorldObjectType* wo = dynamic_cast<WorldObjectType*>(*it);
      if (wo) {
        EdgeType* e = mkEdge(wo);
        if (e) {
          e->setMeasurementFromState();
          addNoise(e);
          graph()->addEdge(e);
        }
      }
    }
  }

References _robotPoseObject, g2o::OptimizableGraph::addEdge(), addNoise(), g2o::BaseSensor::graph(), mkEdge(), g2o::World::objects(), g2o::BaseSensor::robot(), and g2o::BaseSensor::world().

setInformation()

template<class RobotType_, class EdgeType_, class WorldObjectType_>

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

inline

Definition at line 251 of file simulator.h.

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

References _information, and _sampler.

Referenced by main().

Member Data Documentation

_information

template<class RobotType_, class EdgeType_, class WorldObjectType_>

InformationType g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >::_information

protected

Definition at line 288 of file simulator.h.

Referenced by BinarySensor(), information(), and setInformation().

_robotPoseObject

template<class RobotType_, class EdgeType_, class WorldObjectType_>

PoseObject* g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >::_robotPoseObject

protected

Definition at line 287 of file simulator.h.

Referenced by mkEdge(), and sense().

_sampler

template<class RobotType_, class EdgeType_, class WorldObjectType_>

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

protected

Definition at line 298 of file simulator.h.

Referenced by setInformation().

EIGEN_MAKE_ALIGNED_OPERATOR_NEW

template<class RobotType_, class EdgeType_, class WorldObjectType_>

g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 237 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