graph_slam::GraphMapper Class Reference

Holds the state of the graph mapping algorithm, which runs in the background as long as this object exists. More...

#include <graph_mapper.h>

Public Member Functions
	GraphMapper ()
virtual	~GraphMapper ()
	Since this class can be subclassed.
Protected Member Functions
pose_graph::ConstraintGraph	graphSnapshot () const
	Thread-safely get a copy of the current graph.
Protected Attributes
const bool	add_new_nodes_
const double	angle_threshold_
const std::string	base_frame_
const ros::Duration	constraint_wait_
warehouse::WarehouseClient	db_
pose_graph::CachedNodeMap < geometry_msgs::Pose >	ff_poses_
const std::string	fixed_frame_
pose_graph::ConstraintGraph	graph_
bool	initialized_
ros::Time	last_node_addition_time_
pose_graph::NodePoseMap	last_optimization_response_
std::set< unsigned >	last_optimized_comp_
const ros::Duration	loc_transform_wait_
LocalizationBuffer	localizations_
const std::string	optimization_algorithm_
const std::string	optimization_frame_
bool	optimize_flag_
ros::NodeHandle	param_nh_
const double	pos_threshold_
boost::optional < tf::StampedTransform >	ref_transform_
const ros::Duration	ref_transform_timeout_
warehouse::Collection < graph_mapping_msgs::ConstraintGraphMessage >	saved_graph_
boost::shared_ptr < tf::TransformListener >	tf_
const ros::Duration	update_duration_
Private Member Functions
void	addConstraint (graph_mapping_msgs::GraphConstraint::ConstPtr constraint)
void	addNodeAt (const ros::Time &t)
bool	findNodeNear (const geometry_msgs::PoseStamped &l) const
tf::Pose	fixedFramePoseAt (const ros::Time &t, const ros::Duration &wait) const
bool	getPoses (graph_mapping_msgs::GetPoses::Request &req, graph_mapping_msgs::GetPoses::Response &resp)
virtual boost::optional < ros::Time >	newNodeTime ()
void	optimize ()
void	optimizeGraphComponent (unsigned n)
void	publishRefTransform (const ros::TimerEvent &e)
void	saveGraph ()
void	saveGraphTimed (const ros::TimerEvent &e)
void	updateGraph (const ros::TimerEvent &e)
void	updateLocalization (graph_mapping_msgs::LocalizationDistribution::ConstPtr l)
void	visualize (const ros::TimerEvent &e) const
Private Attributes
ros::Subscriber	constraint_sub_
pose_graph::DiffPublisher	diff_pub_
ros::ServiceServer	get_poses_srv_
ros::Subscriber	loc_sub_
ros::Publisher	marker_pub_
boost::mutex	mutex_
ros::NodeHandle	nh_
ros::Publisher	pose_pub_
ros::Timer	ref_pub_timer_
ros::Timer	save_timer_
tf::TransformBroadcaster	tfb_
boost::scoped_ptr< Odometer >	update_odometer_
ros::Timer	update_timer_
ros::Timer	vis_timer_
pose_graph::ConstraintGraphVisualizer	visualizer_

Detailed Description

Holds the state of the graph mapping algorithm, which runs in the background as long as this object exists.

Definition at line 58 of file graph_mapper.h.

Constructor & Destructor Documentation

graph_slam::GraphMapper::GraphMapper ( )

Constructing an instance of this class starts the graph slam algorithm. The constructor starts up timers for graph update and visualization, service callbacks for constraints and localization, and a service callback for saving the graph, and returns.

Topics and services are assumed to be in the default namespace, while parameters are looked up in the private namespace.

Assuming at least one saved graph exists, get the most recent one

Definition at line 80 of file graph_mapper.cpp.

graph_slam::GraphMapper::~GraphMapper ( ) [virtual]

Since this class can be subclassed.

Definition at line 138 of file graph_mapper.cpp.