graph_slam::FakeLoopClosureGenerator Class Reference

#include <fake_loop_closure.h>

Inheritance diagram for graph_slam::FakeLoopClosureGenerator:

List of all members.

Public Member Functions
	FakeLoopClosureGenerator (double proximity_threshold)
NodeConstraintVector	getConstraints (const pose_graph::PoseGraph &graph, const pose_graph::NodeId new_node, const pose_graph::NodePoseMap &optimized_poses)
	Return a set of constraints given the current state of the graph the identity of the new node, and current optimized poses.
void	initializeFromGraph (const pose_graph::PoseGraph &g, const std::vector< pose_graph::NodeId > &node_sequence)
void	updateLocalization (const graph_slam::GraphLocalization &loc)
Private Member Functions
bool	haveRecentlyReceivedPose () const
void	locCB (const geometry_msgs::PoseWithCovarianceStamped &msg)
Private Attributes
ros::Subscriber	fake_loc_sub_
boost::optional < geometry_msgs::PoseStamped >	last_pose_
ros::NodeHandle	nh_
const double	proximity_threshold_
NodePoseMap	true_poses_

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Detailed Description

Definition at line 50 of file fake_loop_closure.h.

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Constructor & Destructor Documentation

graph_slam::FakeLoopClosureGenerator::FakeLoopClosureGenerator

(

double

proximity_threshold

)

Definition at line 52 of file fake_loop_closure.cpp.

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Member Function Documentation

NodeConstraintVector graph_slam::FakeLoopClosureGenerator::getConstraints	(	const pose_graph::PoseGraph &	graph,
		const pose_graph::NodeId	new_node,
		const pose_graph::NodePoseMap &	optimized_poses
	)		[virtual]

Return a set of constraints given the current state of the graph the identity of the new node, and current optimized poses.

Implements graph_slam::ConstraintGenerator.

Definition at line 67 of file fake_loop_closure.cpp.

bool graph_slam::FakeLoopClosureGenerator::haveRecentlyReceivedPose

(

)

const [private]

Definition at line 104 of file fake_loop_closure.cpp.

void graph_slam::FakeLoopClosureGenerator::initializeFromGraph	(	const pose_graph::PoseGraph &	g,
		const std::vector< pose_graph::NodeId > &	node_sequence
	)

Definition at line 57 of file fake_loop_closure.cpp.

void graph_slam::FakeLoopClosureGenerator::locCB

(

const geometry_msgs::PoseWithCovarianceStamped &

msg

)

[private]

Definition at line 96 of file fake_loop_closure.cpp.

void graph_slam::FakeLoopClosureGenerator::updateLocalization

(

const graph_slam::GraphLocalization &

loc

)

[virtual]

Implements graph_slam::ConstraintGenerator.

Definition at line 62 of file fake_loop_closure.cpp.

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Member Data Documentation

ros::Subscriber graph_slam::FakeLoopClosureGenerator::fake_loc_sub_ [private]

Definition at line 70 of file fake_loop_closure.h.

boost::optional<geometry_msgs::PoseStamped> graph_slam::FakeLoopClosureGenerator::last_pose_ [private]

Definition at line 82 of file fake_loop_closure.h.

ros::NodeHandle graph_slam::FakeLoopClosureGenerator::nh_ [private]

Definition at line 69 of file fake_loop_closure.h.

const double graph_slam::FakeLoopClosureGenerator::proximity_threshold_ [private]

Definition at line 76 of file fake_loop_closure.h.

NodePoseMap graph_slam::FakeLoopClosureGenerator::true_poses_ [private]

Definition at line 83 of file fake_loop_closure.h.

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

• fake_loop_closure.h
• fake_loop_closure.cpp