| graph_slam::GraphMapper | Holds the state of the graph mapping algorithm, which runs in the background as long as this object exists |
| graph_slam::GraphSlamException | Base class for all graph_slam exceptions |
| graph_slam::LocalizationBuffer | Maintains a history of graph localizations; uses a fixed frame to extrapolate A localization is a PoseStamped whose frame id is of the form 'node42' |
| graph_slam::LocalizationExtrapolationException | Localization buffer doesn't contain localizations surrounding time t |
| graph_slam::LocalizationOrdering | |
| graph_slam::LocalizationTimeoutException | Exception for when we time out waiting for localization |
| graph_slam::Lock | |
| graph_slam::Odometer | Keeps track of displacement of a moving frame w.r.t fixed frame |
