g2o::SensorOdometry3D Class Reference

#include <sensor_odometry3d.h>

Inheritance diagram for g2o::SensorOdometry3D:

Collaboration diagram for g2o::SensorOdometry3D:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	SensorOdometry3D (const std::string &name_)
virtual void	sense ()
void	addNoise (EdgeType *e)
Public Member Functions inherited from g2o::BinarySensor< Robot3D, EdgeSE3, WorldObjectSE3 >
	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 ()

Additional Inherited Members
Public Types inherited from g2o::BinarySensor< Robot3D, EdgeSE3, WorldObjectSE3 >
typedef Robot3D	RobotType
typedef RobotType::PoseObject	PoseObject
typedef RobotType::TrajectoryType	TrajectoryType
typedef RobotType::PoseObject::VertexType	PoseVertexType
typedef EdgeSE3	EdgeType
typedef WorldObjectSE3	WorldObjectType
typedef WorldObjectType::VertexType	VertexType
typedef EdgeType::InformationType	InformationType
Public Attributes inherited from g2o::BinarySensor< Robot3D, EdgeSE3, WorldObjectSE3 >
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Protected Member Functions inherited from g2o::BinarySensor< Robot3D, EdgeSE3, WorldObjectSE3 >
EdgeType *	mkEdge (WorldObjectType *object)
virtual void	addNoise (EdgeType *)
Protected Attributes inherited from g2o::BinarySensor< Robot3D, EdgeSE3, WorldObjectSE3 >
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 35 of file sensor_odometry3d.h.

Constructor & Destructor Documentation

SensorOdometry3D()

g2o::SensorOdometry3D::SensorOdometry3D

(

const std::string &

name_

)

Definition at line 34 of file sensor_odometry3d.cpp.

    : BinarySensor<Robot3D, EdgeSE3, WorldObjectSE3>(name_) {
  _information.setIdentity();
  _information *= 100;
  _information(3, 3) = 10000;
  _information(4, 4) = 10000;
  _information(5, 5) = 10000;
  setInformation(_information);
}

References g2o::BinarySensor< Robot3D, EdgeSE3, WorldObjectSE3 >::_information, g2o::BinarySensor< Robot3D, EdgeSE3, WorldObjectSE3 >::BinarySensor(), and g2o::BinarySensor< Robot3D, EdgeSE3, WorldObjectSE3 >::setInformation().

Member Function Documentation

addNoise()

void g2o::SensorOdometry3D::addNoise

(

EdgeType *

e

)

Definition at line 44 of file sensor_odometry3d.cpp.

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

References g2o::BinarySensor< Robot3D, EdgeSE3, WorldObjectSE3 >::_sampler, g2o::internal::fromVectorMQT(), and g2o::BinarySensor< Robot3D, EdgeSE3, WorldObjectSE3 >::information().

Referenced by sense().

sense()

void g2o::SensorOdometry3D::sense ( )

virtual

Reimplemented from g2o::BinarySensor< Robot3D, EdgeSE3, WorldObjectSE3 >.

Definition at line 51 of file sensor_odometry3d.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) {
    if (graph()) {
      graph()->addEdge(e);
      e->setMeasurementFromState();
      addNoise(e);
    }
  }
  _robotPoseObject = pcurr;
}

References __PRETTY_FUNCTION__, g2o::BinarySensor< Robot3D, EdgeSE3, WorldObjectSE3 >::_robotPoseObject, g2o::OptimizableGraph::addEdge(), addNoise(), g2o::BaseSensor::graph(), g2o::BinarySensor< Robot3D, EdgeSE3, WorldObjectSE3 >::mkEdge(), g2o::BaseSensor::robot(), and g2o::Robot< RobotPoseObject >::trajectory().

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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_odometry3d.h
• /build/reproducible-path/g2o-0~20230806/g2o/apps/g2o_simulator/sensor_odometry3d.cpp