graph_slam Namespace Reference

Classes
class	ConstraintGenerator
class	DiffPublisher
class	DiffSubscriber
class	FakeLoopClosureGenerator
class	GraphMapper
class	KartoLaserConstraints
struct	LocalizationState
class	LoopScanMatcher
struct	NodeConstraint
class	OdomConstraintGenerator
	Constraint generator that generates a single constraint to the previous node. More...
class	ScanManager
	Internally used class that contains sequential scan matching logic When using the ops, you have to instantiate a WithOptimizedPoses RAII object in a containing scope to set the optimized poses before doing anything else. More...
class	ScanMatchLocalization
class	SequentialScanMatcher
struct	WithOptimizedPoses
	RAII object for making ScanManager use a given set of optimized poses. More...
Typedefs
typedef std::vector< pg::NodeId >	Chain
typedef std::vector< Chain >	ChainVec
typedef boost::shared_ptr < ConstraintGenerator >	ConstraintGenPtr
typedef boost::shared_ptr < nm::OccupancyGrid const >	GridConstPtr
typedef boost::shared_ptr < nm::OccupancyGrid >	GridPtr
typedef boost::shared_ptr < karto_scan_matcher::KartoScanMatcher >	KartoMatcherPtr
typedef sensor_msgs::LaserScan::ConstPtr	LaserPtr
typedef NodeSequenceMap::left_map::const_iterator	LeftIter
typedef boost::mutex::scoped_lock	Lock
typedef boost::shared_ptr < LoopScanMatcher >	LoopMatcherPtr
typedef std::vector < NodeConstraint, Eigen3::aligned_allocator < NodeConstraint > >	NodeConstraintVector
typedef std::map< pg::NodeId, geometry_msgs::Pose >	NodePoseMap
typedef std::map< pg::NodeId, LaserPtr >	NodeScanMap
typedef boost::bimap < pg::NodeId, pg::NodeId >	NodeSequenceMap
typedef std::set< pg::NodeId >	NodeSet
typedef NodeSequenceMap::right_map::const_iterator	RightIter
typedef boost::shared_ptr < SequentialScanMatcher >	SeqMatcherPtr
typedef NodeSequenceMap::value_type	SequenceLink
Functions
void	addChain (const Chain &chain, ChainVec *chains, NodeSet *processed)
void	addChain (const Chain &chain, vector< Chain > *chains, NodeSet *processed)
void	addTransformedPoints (LocalizedCloud::ConstPtr cloud, const Pose &pose, sm::PointCloud *cloud_out)
bool	alreadyHaveConstraintToTarget (const NodeConstraint &constraint, const NodeConstraintVector &constraints)
Pose	applyConstraint (const Pose &p, const PoseConstraint &c)
bool	closerTo (const gm::Pose2D &pose, const NodePoseMap &optimized_poses, const NodeId n1, const NodeId n2)
ConstraintGenPtr	createConstraintGenerator (const ros::NodeHandle &nh)
nav_msgs::OccupancyGrid::Ptr	generateGlobalMap (const pose_graph::PoseGraph &graph, const pose_graph::NodePoseMap &opt_poses, const double resolution)
nm::MapMetaData	getGridBounds (const pg::NodePoseMap &poses, const double resolution)
gm::Pose2D	getLaserOffset (const tf::TransformListener &tf, const sm::LaserScan &scan)
double	getLocalizationRate ()
unsigned	getLocalizationsPerScanMatch ()
pg::PrecisionMatrix	getPrecisionMatrix (const karto_scan_matcher::ScanMatchResult &res, const bool use_covariances)
	Utility functions for subclasses.
template<class T >
T	getPrivateParam (const ros::NodeHandle &nh, const string &name, const T &default_val)
template<class T >
T	getPrivateParam (const string &name, const T &default_val)
unsigned	getUniqueId ()
ksm::ScanWithPose	makeScanWithPose (const NodePoseMap &optimized_poses, const NodeScanMap scans_, const NodeId n)
template<typename Map >
Chain	onewayChain (const Map &m, const pg::NodeId seed, const NodeSet &allowed, const NodeSet &forbidden)
bool	targetIs (const NodeConstraint &constraint, const NodeId n)
void	TransformEigenToTF (const Eigen3::Affine3d &k, tf::Transform &t)
bool	withinDistance (const PoseGraph &g, const NodeId n1, const NodeId n2, const double d)
Variables
const double	DEFAULT_ANGLE_THRESHOLD = 1.57
const double	DEFAULT_POS_THRESHOLD = 2.0
const double	LOCALIZATION_RECENCY_THRESHOLD = 1.0
const double	PADDING = 10.0
	We'll create the grid with this much padding around the provided poses.
const double	RADIAN_TO_METER_MULT = 1.0
const double	STATUS_CHECK_INT = 5.0

---

Typedef Documentation

typedef std::vector<pg::NodeId> graph_slam::Chain

Definition at line 56 of file scan_manager.h.

typedef vector< Chain > graph_slam::ChainVec

Definition at line 61 of file scan_manager.h.

typedef boost::shared_ptr<ConstraintGenerator> graph_slam::ConstraintGenPtr

Definition at line 102 of file constraint_generator.h.

typedef boost::shared_ptr<nm::OccupancyGrid const> graph_slam::GridConstPtr

Definition at line 110 of file graph_mapper.cpp.

typedef boost::shared_ptr<nm::OccupancyGrid> graph_slam::GridPtr

Definition at line 109 of file graph_mapper.cpp.

typedef boost::shared_ptr<karto_scan_matcher::KartoScanMatcher> graph_slam::KartoMatcherPtr

Definition at line 57 of file scan_manager.h.

typedef sensor_msgs::LaserScan::ConstPtr graph_slam::LaserPtr

Definition at line 58 of file scan_manager.h.

typedef NodeSequenceMap::left_map::const_iterator graph_slam::LeftIter

Definition at line 58 of file scan_manager.cpp.

typedef boost::mutex::scoped_lock graph_slam::Lock

Definition at line 107 of file graph_mapper.cpp.

typedef boost::shared_ptr<LoopScanMatcher> graph_slam::LoopMatcherPtr

Definition at line 55 of file karto_laser_constraints.h.

typedef std::vector<NodeConstraint, Eigen3::aligned_allocator<NodeConstraint> > graph_slam::NodeConstraintVector

Definition at line 78 of file constraint_generator.h.

typedef std::map<pg::NodeId, geometry_msgs::Pose> graph_slam::NodePoseMap

Definition at line 79 of file constraint_generator.h.

typedef std::map<pg::NodeId, LaserPtr> graph_slam::NodeScanMap

Definition at line 59 of file scan_manager.h.

typedef boost::bimap<pg::NodeId, pg::NodeId> graph_slam::NodeSequenceMap

Definition at line 55 of file scan_manager.h.

typedef set< NodeId > graph_slam::NodeSet

Definition at line 60 of file scan_manager.h.

typedef NodeSequenceMap::right_map::const_iterator graph_slam::RightIter

Definition at line 59 of file scan_manager.cpp.

typedef boost::shared_ptr<SequentialScanMatcher> graph_slam::SeqMatcherPtr

Definition at line 54 of file karto_laser_constraints.h.

typedef NodeSequenceMap::value_type graph_slam::SequenceLink

Definition at line 57 of file scan_manager.cpp.

---

Function Documentation

void graph_slam::addChain	(	const Chain &	chain,
		ChainVec *	chains,
		NodeSet *	processed
	)

void graph_slam::addChain	(	const Chain &	chain,
		vector< Chain > *	chains,
		NodeSet *	processed
	)

Definition at line 264 of file scan_manager.cpp.

void graph_slam::addTransformedPoints	(	LocalizedCloud::ConstPtr	cloud,
		const Pose &	pose,
		sm::PointCloud *	cloud_out
	)

Definition at line 783 of file graph_mapper.cpp.

bool graph_slam::alreadyHaveConstraintToTarget	(	const NodeConstraint &	constraint,
		const NodeConstraintVector &	constraints
	)

Definition at line 59 of file sequential_scan_matcher.cpp.

Pose graph_slam::applyConstraint	(	const Pose &	p,
		const PoseConstraint &	c
	)

Definition at line 775 of file graph_mapper.cpp.

bool graph_slam::closerTo	(	const gm::Pose2D &	pose,
		const NodePoseMap &	optimized_poses,
		const NodeId	n1,
		const NodeId	n2
	)

Definition at line 192 of file scan_manager.cpp.

ConstraintGenPtr graph_slam::createConstraintGenerator

(

const ros::NodeHandle &

nh

)

Definition at line 66 of file constraint_generator.cpp.

nm::OccupancyGrid::Ptr graph_slam::generateGlobalMap	(	const pose_graph::PoseGraph &	graph,
		const pose_graph::NodePoseMap &	opt_poses,
		const double	resolution
	)

Definition at line 79 of file global_map.cpp.

nm::MapMetaData graph_slam::getGridBounds	(	const pg::NodePoseMap &	poses,
		const double	resolution
	)

Definition at line 47 of file global_map.cpp.

gm::Pose2D graph_slam::getLaserOffset	(	const tf::TransformListener &	tf,
		const sm::LaserScan &	scan
	)

Definition at line 85 of file karto_laser_constraint_generator.cpp.

double graph_slam::getLocalizationRate

(

)

Definition at line 384 of file graph_mapper.cpp.

unsigned graph_slam::getLocalizationsPerScanMatch

(

)

Definition at line 389 of file graph_mapper.cpp.

PrecisionMatrix graph_slam::getPrecisionMatrix	(	const karto_scan_matcher::ScanMatchResult &	res,
		const bool	use_covariances
	)

Utility functions for subclasses.

Definition at line 252 of file scan_manager.cpp.

template<class T >

T graph_slam::getPrivateParam	(	const ros::NodeHandle &	nh,
		const string &	name,
		const T &	default_val
	)

Definition at line 56 of file constraint_generator.cpp.

template<class T >

T graph_slam::getPrivateParam	(	const string &	name,
		const T &	default_val
	)

Definition at line 311 of file graph_mapper.cpp.

unsigned graph_slam::getUniqueId

(

)

Definition at line 299 of file graph_mapper.cpp.

ksm::ScanWithPose graph_slam::makeScanWithPose	(	const NodePoseMap &	optimized_poses,
		const NodeScanMap	scans_,
		const NodeId	n
	)

Definition at line 93 of file scan_manager.cpp.

template<typename Map >

Chain graph_slam::onewayChain	(	const Map &	m,
		const pg::NodeId	seed,
		const NodeSet &	allowed,
		const NodeSet &	forbidden
	)

Definition at line 169 of file scan_manager.h.

bool graph_slam::targetIs	(	const NodeConstraint &	constraint,
		const NodeId	n
	)

Definition at line 79 of file karto_laser_constraint_generator.cpp.

void graph_slam::TransformEigenToTF	(	const Eigen3::Affine3d &	k,
		tf::Transform &	t
	)

Definition at line 905 of file graph_mapper.cpp.

bool graph_slam::withinDistance	(	const PoseGraph &	g,
		const NodeId	n1,
		const NodeId	n2,
		const double	d
	)

Definition at line 718 of file graph_mapper.cpp.

---

Variable Documentation

const double graph_slam::DEFAULT_ANGLE_THRESHOLD = 1.57

Definition at line 117 of file graph_mapper.cpp.

const double graph_slam::DEFAULT_POS_THRESHOLD = 2.0

Definition at line 116 of file graph_mapper.cpp.

const double graph_slam::LOCALIZATION_RECENCY_THRESHOLD = 1.0

Definition at line 48 of file fake_loop_closure.h.

const double graph_slam::PADDING = 10.0

We'll create the grid with this much padding around the provided poses.

Definition at line 49 of file global_map.h.

const double graph_slam::RADIAN_TO_METER_MULT = 1.0

Definition at line 61 of file scan_manager.cpp.

const double graph_slam::STATUS_CHECK_INT = 5.0

Definition at line 118 of file graph_mapper.cpp.