#include <pose_graph/pose_graph.h>#include <graph_slam/global_map.h>#include <graph_slam/constraint_generator.h>#include <pose_graph/utils.h>#include <graph_slam/scan_match_localization.h>#include <pose_graph/spa_conversion.h>#include <pose_graph/spa_2d_conversion.h>#include <pose_graph/transforms.h>#include <pose_graph/pose_graph_message.h>#include <pose_graph/Edge.h>#include <pose_graph/exception.h>#include <graph_slam/diff_publisher.h>#include <pose_graph/SaveGraph.h>#include <graph_slam/GenerateGlobalMap.h>#include <occupancy_grid_utils/ray_tracer.h>#include <ros/ros.h>#include <ros/time.h>#include <rosbag/view.h>#include <tf/transform_datatypes.h>#include <tf/transform_listener.h>#include <tf/transform_broadcaster.h>#include <sensor_msgs/LaserScan.h>#include <graph_slam/GraphLocalization.h>#include <laser_geometry/laser_geometry.h>#include <geometry_msgs/PoseStamped.h>#include <visualization_msgs/MarkerArray.h>#include <boost/thread.hpp>#include <boost/foreach.hpp>#include <boost/shared_ptr.hpp>#include <boost/optional.hpp>#include <string>#include <algorithm>#include <std_msgs/Int64.h>#include <std_msgs/UInt64.h>#include <queue>
Include dependency graph for graph_mapper.cpp:
Go to the source code of this file.
Classes | |
| class | graph_slam::GraphMapper |
Namespaces | |
| namespace | graph_slam |
Typedefs | |
| typedef boost::shared_ptr < nm::OccupancyGrid const > | graph_slam::GridConstPtr |
| typedef boost::shared_ptr < nm::OccupancyGrid > | graph_slam::GridPtr |
| typedef boost::mutex::scoped_lock | graph_slam::Lock |
Functions | |
| void | graph_slam::addTransformedPoints (LocalizedCloud::ConstPtr cloud, const Pose &pose, sm::PointCloud *cloud_out) |
| Pose | graph_slam::applyConstraint (const Pose &p, const PoseConstraint &c) |
| double | graph_slam::getLocalizationRate () |
| unsigned | graph_slam::getLocalizationsPerScanMatch () |
| template<class T > | |
| T | graph_slam::getPrivateParam (const string &name, const T &default_val) |
| unsigned | graph_slam::getUniqueId () |
| int | main (int argc, char **argv) |
| void | graph_slam::TransformEigenToTF (const Eigen3::Affine3d &k, tf::Transform &t) |
| bool | graph_slam::withinDistance (const PoseGraph &g, const NodeId n1, const NodeId n2, const double d) |
Variables | |
| const double | graph_slam::DEFAULT_ANGLE_THRESHOLD = 1.57 |
| const double | graph_slam::DEFAULT_POS_THRESHOLD = 2.0 |
| const double | graph_slam::STATUS_CHECK_INT = 5.0 |
Detailed Description
A ros node that constructs a pose graph over time from scan data and odometry
Definition in file graph_mapper.cpp.
Function Documentation
| int main | ( | int | argc, |
| char ** | argv | ||
| ) |
Definition at line 988 of file graph_mapper.cpp.