Class LocalTrajectoryBuilder2D

• Defined in File local_trajectory_builder_2d.h

Nested Relationships

Nested Types

• Struct LocalTrajectoryBuilder2D::InsertionResult

• Struct LocalTrajectoryBuilder2D::MatchingResult

Class Documentation

class LocalTrajectoryBuilder2D

Public Functions

explicit LocalTrajectoryBuilder2D(const proto::LocalTrajectoryBuilderOptions2D &options, const std::vector<std::string> &expected_range_sensor_ids)

~LocalTrajectoryBuilder2D()

LocalTrajectoryBuilder2D(const LocalTrajectoryBuilder2D&) = delete

LocalTrajectoryBuilder2D &operator=(const LocalTrajectoryBuilder2D&) = delete

std::unique_ptr<MatchingResult> AddRangeData(const std::string &sensor_id, const sensor::TimedPointCloudData &range_data)

void AddImuData(const sensor::ImuData &imu_data)

void AddOdometryData(const sensor::OdometryData &odometry_data)

Public Static Functions

static void RegisterMetrics(metrics::FamilyFactory *family_factory)

struct InsertionResult

Public Members

std::shared_ptr<const TrajectoryNode::Data> constant_data

std::vector<std::shared_ptr<const Submap2D>> insertion_submaps

struct MatchingResult

Public Members

common::Time time

transform::Rigid3d local_pose

sensor::RangeData range_data_in_local

std::unique_ptr<const InsertionResult> insertion_result