#include <karto_laser_constraints.h>

Inheritance diagram for graph_slam::KartoLaserConstraints:

Public Member Functions
NodeConstraintVector	getConstraints (const pg::PoseGraph &graph, const pg::NodeId new_node, const 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 pg::PoseGraph &g, const std::vector< pg::NodeId > &node_sequence)
	Initialize from existing graph.
	KartoLaserConstraints (double max_seq_link_length, unsigned min_seq_chain_length, double min_seq_link_response, double max_loop_link_length, unsigned min_loop_chain_length, double min_loop_closure_response, bool use_covariances)
void	updateLocalization (const graph_slam::GraphLocalization &loc)
Private Member Functions
NodeConstraintVector	loopConstraints (const pg::PoseGraph &graph, const pg::NodeId new_node, const geometry_msgs::Pose &pose_estimate, const NodePoseMap &optimized_poses)
void	possiblyInitializeMatchers (const sensor_msgs::LaserScan &scan)
NodeConstraintVector	scanOdomConstraints (const pg::PoseGraph &graph, const pg::NodeId new_node, const geometry_msgs::Pose &pose_estimate, const NodePoseMap &optimized_poses)
Private Attributes
boost::optional< pg::NodeId >	last_ref_node_
LoopMatcherPtr	loop_matcher_
const double	max_loop_link_length_
const double	max_sequential_link_length_
const unsigned	min_loop_chain_length_
const double	min_loop_closure_response_
const unsigned	min_sequential_chain_length_
const double	min_sequential_link_response_
ros::NodeHandle	nh_
geometry_msgs::Pose	ref_node_odom_pose_
SeqMatcherPtr	seq_matcher_
tf::TransformListener	tf_
const bool	use_covariances_

Detailed Description

Definition at line 63 of file karto_laser_constraints.h.

Constructor & Destructor Documentation

graph_slam::KartoLaserConstraints::KartoLaserConstraints	(	double	max_seq_link_length,
		unsigned	min_seq_chain_length,
		double	min_seq_link_response,
		double	max_loop_link_length,
		unsigned	min_loop_chain_length,
		double	min_loop_closure_response,
		bool	use_covariances
	)

Definition at line 67 of file karto_laser_constraint_generator.cpp.

Member Function Documentation

NodeConstraintVector graph_slam::KartoLaserConstraints::getConstraints	(	const pg::PoseGraph &	graph,
		const pg::NodeId	new_node,
		const 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 123 of file karto_laser_constraint_generator.cpp.

void graph_slam::KartoLaserConstraints::initializeFromGraph	(	const pg::PoseGraph &	g,
		const std::vector< pg::NodeId > &	node_sequence
	)		`[virtual]`

Initialize from existing graph.

Parameters:

node_sequence is a suffix of the order in which nodes were seen; can have repeats

Implements graph_slam::ConstraintGenerator.

Definition at line 165 of file karto_laser_constraint_generator.cpp.

NodeConstraintVector graph_slam::KartoLaserConstraints::loopConstraints	(	const pg::PoseGraph &	graph,
		const pg::NodeId	new_node,
		const geometry_msgs::Pose &	pose_estimate,
		const NodePoseMap &	optimized_poses
	)		`[private]`

Definition at line 181 of file karto_laser_constraint_generator.cpp.

void graph_slam::KartoLaserConstraints::possiblyInitializeMatchers ( const sensor_msgs::LaserScan & scan ) [private]

Definition at line 108 of file karto_laser_constraint_generator.cpp.

NodeConstraintVector graph_slam::KartoLaserConstraints::scanOdomConstraints	(	const pg::PoseGraph &	graph,
		const pg::NodeId	new_node,
		const geometry_msgs::Pose &	pose_estimate,
		const NodePoseMap &	optimized_poses
	)		`[private]`