Class CollatedTrajectoryBuilder

Defined in File collated_trajectory_builder.h

Inheritance Relationships

Base Type

public cartographer::mapping::TrajectoryBuilderInterface (Class TrajectoryBuilderInterface)

Class Documentation

class CollatedTrajectoryBuilder : public cartographer::mapping::TrajectoryBuilderInterface 

Public Types

using SensorId = TrajectoryBuilderInterface::SensorId 

Public Functions

CollatedTrajectoryBuilder(const proto::TrajectoryBuilderOptions &trajectory_options, sensor::CollatorInterface *sensor_collator, int trajectory_id, const std::set<SensorId> &expected_sensor_ids, std::unique_ptr<TrajectoryBuilderInterface> wrapped_trajectory_builder)

inline ~CollatedTrajectoryBuilder() override

CollatedTrajectoryBuilder(const CollatedTrajectoryBuilder&) = delete

CollatedTrajectoryBuilder &operator=(const CollatedTrajectoryBuilder&) = delete

inline virtual void AddSensorData(const std::string &sensor_id, const sensor::TimedPointCloudData &timed_point_cloud_data) override

inline virtual void AddSensorData(const std::string &sensor_id, const sensor::ImuData &imu_data) override

inline virtual void AddSensorData(const std::string &sensor_id, const sensor::OdometryData &odometry_data) override

inline virtual void AddSensorData(const std::string &sensor_id, const sensor::FixedFramePoseData &fixed_frame_pose_data) override

inline virtual void AddSensorData(const std::string &sensor_id, const sensor::LandmarkData &landmark_data) override

inline virtual void AddLocalSlamResultData(std::unique_ptr<mapping::LocalSlamResultData> local_slam_result_data) override