g2o::World Class Reference

#include <simulator.h>

Collaboration diagram for g2o::World:

Public Member Functions
	World (OptimizableGraph *graph_)
OptimizableGraph *	graph ()
bool	addRobot (BaseRobot *robot)
bool	addWorldObject (BaseWorldObject *worldObject)
bool	addParameter (Parameter *p)
std::set< BaseWorldObject * > &	objects ()
std::set< BaseRobot * > &	robots ()

Protected Attributes
std::set< BaseWorldObject * >	_objects
std::set< BaseRobot * >	_robots
OptimizableGraph *	_graph
int	_runningId
int	_paramId

Detailed Description

Definition at line 103 of file simulator.h.

Constructor & Destructor Documentation

World()

g2o::World::World ( OptimizableGraph * graph_ )

inline

Definition at line 105 of file simulator.h.

                                  {
    _graph = graph_;
    _runningId = 0;
    _paramId = 0;
  }

References _graph, _paramId, and _runningId.

Member Function Documentation

addParameter()

bool g2o::World::addParameter

(

Parameter *

p

)

Definition at line 104 of file simulator.cpp.

                                         {
  if (!graph()) return false;
  param->setId(_paramId);
  graph()->addParameter(param);
  _paramId++;
  return true;
}

References _paramId, g2o::OptimizableGraph::addParameter(), graph(), and g2o::Parameter::setId().

Referenced by g2o::SensorPointXYOffset::addParameters(), g2o::SensorPointXYZ::addParameters(), g2o::SensorPointXYZDepth::addParameters(), g2o::SensorPointXYZDisparity::addParameters(), g2o::SensorPose3DOffset::addParameters(), and g2o::SensorSE3Prior::addParameters().

addRobot()

bool g2o::World::addRobot

(

BaseRobot *

robot

)

Definition at line 82 of file simulator.cpp.

                                     {
  std::pair<std::set<BaseRobot*>::iterator, bool> result =
      _robots.insert(robot);
  if (result.second) {
    robot->setWorld(this);
  }
  return result.second;
}

References _robots, and g2o::BaseRobot::setWorld().

Referenced by main().

addWorldObject()

bool g2o::World::addWorldObject

(

BaseWorldObject *

worldObject

)

Definition at line 91 of file simulator.cpp.

                                                  {
  std::pair<std::set<BaseWorldObject*>::iterator, bool> result =
      _objects.insert(object);
  if (result.second) {
    object->setWorld(this);
  }
  if (graph() && object->vertex()) {
    object->vertex()->setId(_runningId++);
    graph()->addVertex(object->vertex());
  }
  return result.second;
}

References _objects, _runningId, g2o::OptimizableGraph::addVertex(), graph(), and g2o::BaseWorldObject::vertex().

Referenced by main(), and g2o::Robot< WorldObjectSE2 >::move().

graph()

OptimizableGraph * g2o::World::graph ( )

inline

Definition at line 110 of file simulator.h.

{ return _graph; }

References _graph.

Referenced by addParameter(), and addWorldObject().

objects()

std::set< BaseWorldObject * > & g2o::World::objects ( )

inline

Definition at line 115 of file simulator.h.

{ return _objects; }

References _objects.

Referenced by g2o::BinarySensor< RobotType_, EdgeType_, WorldObjectType_ >::sense(), g2o::SensorPointXY::sense(), g2o::SensorPointXYBearing::sense(), g2o::SensorPointXYOffset::sense(), g2o::SensorPointXYZ::sense(), g2o::SensorPointXYZDepth::sense(), g2o::SensorPointXYZDisparity::sense(), g2o::SensorPose2D::sense(), g2o::SensorPose3D::sense(), g2o::SensorPose3DOffset::sense(), g2o::SensorSegment2D::sense(), g2o::SensorSegment2DLine::sense(), and g2o::SensorSegment2DPointLine::sense().

robots()

std::set< BaseRobot * > & g2o::World::robots ( )

inline

Definition at line 116 of file simulator.h.

{ return _robots; }

References _robots.

Member Data Documentation

_graph

OptimizableGraph* g2o::World::_graph

protected

Definition at line 121 of file simulator.h.

Referenced by graph(), and World().

_objects

std::set<BaseWorldObject*> g2o::World::_objects

protected

Definition at line 119 of file simulator.h.

Referenced by addWorldObject(), and objects().

_paramId

int g2o::World::_paramId

protected

Definition at line 123 of file simulator.h.

Referenced by addParameter(), and World().

_robots

std::set<BaseRobot*> g2o::World::_robots

protected

Definition at line 120 of file simulator.h.

Referenced by addRobot(), and robots().

_runningId

int g2o::World::_runningId

protected

Definition at line 122 of file simulator.h.

Referenced by addWorldObject(), and World().

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