Constraint generator that generates a single constraint to the previous node. More...

#include <odom.h>

Inheritance diagram for graph_slam::OdomConstraintGenerator:

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.
void	updateLocalization (const graph_slam::GraphLocalization &loc)
Private Attributes
boost::optional< pg::NodeId >	last_node_

Detailed Description

Constraint generator that generates a single constraint to the previous node.

Definition at line 53 of file odom.h.

Member Function Documentation

NodeConstraintVector graph_slam::OdomConstraintGenerator::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.

void graph_slam::OdomConstraintGenerator::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

void graph_slam::OdomConstraintGenerator::updateLocalization ( const graph_slam::GraphLocalization & loc ) [virtual]

Definition at line 63 of file odom.h.

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