1 // g2o - General Graph Optimization
2 // Copyright (C) 2011 G. Grisetti, R. Kuemmerle, W. Burgard
3 // All rights reserved.
4 //
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are
7 // met:
8 //
9 // * Redistributions of source code must retain the above copyright notice,
10 //   this list of conditions and the following disclaimer.
11 // * Redistributions in binary form must reproduce the above copyright
12 //   notice, this list of conditions and the following disclaimer in the
13 //   documentation and/or other materials provided with the distribution.
14 //
15 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
16 // IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
17 // TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
18 // PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
19 // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
20 // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
21 // TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
22 // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
23 // LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
24 // NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 
27 #include "simulator.h"
28 #include <iostream>
29 namespace g2o{
30   using namespace std;
31 
32   // BaseWorldObject
~BaseWorldObject()33   BaseWorldObject::~BaseWorldObject() {}
graph()34   OptimizableGraph* BaseWorldObject::graph() {
35     if (_world)
36       return _world-> graph();
37     return 0;
38   }
39 
setVertex(OptimizableGraph::Vertex * vertex_)40   void BaseWorldObject::setVertex(OptimizableGraph::Vertex* vertex_){
41     _vertex= vertex_;
42   }
43 
44   // BaseRobot
graph()45   OptimizableGraph* BaseRobot::graph() {
46     if (_world)
47       return _world-> graph();
48     return 0;
49   }
50 
addSensor(BaseSensor * sensor)51   bool BaseRobot::addSensor(BaseSensor* sensor){
52     assert (graph());
53     std::pair<std::set<BaseSensor*>::iterator, bool> result=_sensors.insert(sensor);
54     if(result.second){
55       sensor->setRobot(this);
56       sensor->addParameters();
57     }
58     return result.second;
59   }
60 
sense()61   void BaseRobot::sense() {
62     for (std::set<BaseSensor*>::iterator it=_sensors.begin(); it!=_sensors.end(); ++it){
63       BaseSensor* s=*it;
64       s->sense();
65     }
66   }
67 
68   // Sensor
world()69   World* BaseSensor::world() {
70     if (!_robot)
71       return 0;
72     return _robot->world();
73   }
74 
graph()75   OptimizableGraph* BaseSensor::graph() {
76     if (!_robot)
77       return 0;
78     return _robot->graph();
79   }
80 
81   //World
addRobot(BaseRobot * robot)82   bool World::addRobot(BaseRobot* robot){
83     std::pair<std::set<BaseRobot*>::iterator, bool> result=_robots.insert(robot);
84     if (result.second){
85       robot->setWorld(this);
86     }
87     return result.second;
88   }
89 
addWorldObject(BaseWorldObject * object)90   bool World::addWorldObject(BaseWorldObject* object){
91     std::pair<std::set<BaseWorldObject*>::iterator, bool> result=_objects.insert(object);
92     if (result.second){
93       object->setWorld(this);
94     }
95     if (graph() && object->vertex()){
96       object->vertex()->setId(_runningId++);
97       graph()->addVertex(object->vertex());
98     }
99     return result.second;
100   }
101 
addParameter(Parameter * param)102   bool World::addParameter(Parameter* param){
103     if ( !graph())
104       return false;
105     param->setId(_paramId);
106     graph()->addParameter(param);
107     _paramId++;
108     return true;
109   }
110 
111 
112 } // end namespace
113