sensor_pose3d_offset.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 G. Grisetti, R. Kuemmerle, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
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#ifndef G2O_SENSOR_POSE3D_OFFSET_H_
#define G2O_SENSOR_POSE3D_OFFSET_H_
#include "pointsensorparameters.h"
#include "simulator3d_base.h"
 
namespace g2o {
 
class SensorPose3DOffset
    : public PointSensorParameters,
      public BinarySensor<Robot3D, EdgeSE3Offset, WorldObjectSE3> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  SensorPose3DOffset(const std::string& name_);
  virtual void sense();
  int stepsToIgnore() const { return _stepsToIgnore; }
  void setStepsToIgnore(int stepsToIgnore_) { _stepsToIgnore = stepsToIgnore_; }
  void addNoise(EdgeType* e);
  virtual void addParameters();
  ParameterSE3Offset* offsetParam1() { return _offsetParam1; };
  ParameterSE3Offset* offsetParam2() { return _offsetParam2; };
 
 protected:
  bool isVisible(WorldObjectType* to);
  int _stepsToIgnore;
  ParameterSE3Offset *_offsetParam1, *_offsetParam2;
 
  // these are temporaries
  std::set<PoseObject*> _posesToIgnore;
};
 
}  // namespace g2o
 
#endif