wolf::NodeBase Class Reference

Base class for Nodes. More...

#include <core/common/node_base.h>

Inheritance diagram for wolf::NodeBase:

Public Member Functions
	NodeBase (const std::string &_category, const std::string &_type="Undefined", const std::string &_name="")
virtual	~NodeBase ()=default
unsigned int	nodeId () const
std::string	getCategory () const
std::string	getType () const
std::string	getName () const
bool	isRemoving () const
virtual bool	hasChildren () const =0
void	setType (const std::string &_type)
void	setName (const std::string &_name)
ProblemConstPtr	getProblem () const
ProblemPtr	getProblem ()

Protected Member Functions
virtual void	setProblem (ProblemPtr _prob_ptr)

Protected Attributes
ProblemWPtr	problem_ptr_
unsigned int	node_id_
	Node id. It is unique over the whole Wolf Tree. More...
std::string	node_category_
	Text label identifying the category of node ("SENSOR", "FEATURE", etc) More...
std::string	node_type_
	Text label identifying the type or subcategory of node ("Pin Hole", "Point 2d", etc) More...
std::string	node_name_
bool	is_removing_
	A flag for safely removing nodes from the Wolf tree. See remove(). More...

Detailed Description

Base class for Nodes.

Base class for all Nodes in the Wolf tree. Each node has

• A unique ID. The class implements the ID factory.
• A unique category name, strictly within this range of possibilities:
  • "BASE" – should not be used
  • "PROBLEM"
  • "HARDWARE"
  • "SENSOR"
  • "PROCESSOR"
  • "TRAJECTORY"
  • "FRAME"
  • "CAPTURE"
  • "FEATURE"
  • "FACTOR"
  • "MAP"
  • "LANDMARK"

• A unique type, which is a subcategory of the above. The list here cannot be exhaustive, but a few examples follow:

  • "SensorCamera"
  • "SensorLaser2d"
  • "Landmark3d"
  • "ProcessorLaser2d"

  please refer to each base class derived from NodeLinked for better examples of their types.

• A name, defined in each application, which is specific of each object. Again, just some examples:

  • "Front-left camera"
  • "Main wheel odometer"
  • "IMU delta pre-integrator processor"

  These names are only required for objects being defined by the user at configuration time, such as:

  • Sensors
  • Processors

  Additionally, but not necessarily, one could also give names to:

  • Pre-defined maps or landmarks (provided to the problem)
  • Each of the generated captures --> these names could, for example, be a copy of the sensor name.

  Finally, all the other node names in the Wolf Tree are not required, and in fact they are not used for anything.

Constructor & Destructor Documentation

NodeBase()

wolf::NodeBase::NodeBase ( const std::string &  _category, const std::string &  _type = "Undefined", const std::string &  _name = ""  )

inline

~NodeBase()

virtual wolf::NodeBase::~NodeBase ( )

virtualdefault

Member Function Documentation

getCategory()

std::string wolf::NodeBase::getCategory ( ) const

inline

getName()

std::string wolf::NodeBase::getName ( ) const

inline

getProblem() [1/2]

ProblemPtr wolf::NodeBase::getProblem ( )

inline

getProblem() [2/2]

ProblemConstPtr wolf::NodeBase::getProblem ( ) const

inline

getType()

std::string wolf::NodeBase::getType ( ) const

inline

hasChildren()

virtual bool wolf::NodeBase::hasChildren ( ) const

pure virtual

Implemented in wolf::CaptureBase, wolf::NodeStateBlocks, wolf::FactorBase, wolf::FeatureBase, wolf::FrameBase, wolf::HardwareBase, wolf::MapBase, wolf::ProcessorBase, wolf::TrajectoryBase, and wolf::TreeManagerBase.

isRemoving()

bool wolf::NodeBase::isRemoving ( ) const

inline

nodeId()

unsigned int wolf::NodeBase::nodeId ( ) const

inline

setName()

void wolf::NodeBase::setName ( const std::string &  _name )

inline

setProblem()

void wolf::NodeBase::setProblem ( ProblemPtr  _prob_ptr )

inlineprotectedvirtual

Reimplemented in wolf::NodeStateBlocks, wolf::LandmarkBase, wolf::CaptureBase, wolf::FrameBase, wolf::SensorBase, wolf::ProcessorBase, and wolf::FactorBase.

setType()

void wolf::NodeBase::setType ( const std::string &  _type )

inline

Member Data Documentation

is_removing_

bool wolf::NodeBase::is_removing_

protected

A flag for safely removing nodes from the Wolf tree. See remove().

node_category_

std::string wolf::NodeBase::node_category_

protected

Text label identifying the category of node ("SENSOR", "FEATURE", etc)

node_id_

unsigned int wolf::NodeBase::node_id_

protected

Node id. It is unique over the whole Wolf Tree.

node_name_

std::string wolf::NodeBase::node_name_

protected

Text label identifying each specific object ("left camera", "LIDAR 1", "PointGrey", "Andrew", etc)

node_type_

std::string wolf::NodeBase::node_type_

protected

Text label identifying the type or subcategory of node ("Pin Hole", "Point 2d", etc)

problem_ptr_

ProblemWPtr wolf::NodeBase::problem_ptr_

protected

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The documentation for this class was generated from the following files:

• include/core/common/node_base.h
• src/common/node_base.cpp