Class LocalTrajectoryBuilder3D

• Defined in File local_trajectory_builder_3d.h

Nested Relationships

Nested Types

• Struct LocalTrajectoryBuilder3D::InsertionResult

• Struct LocalTrajectoryBuilder3D::MatchingResult

Class Documentation

class LocalTrajectoryBuilder3D

Public Functions

explicit LocalTrajectoryBuilder3D(const mapping::proto::LocalTrajectoryBuilderOptions3D &options, const std::vector<std::string> &expected_range_sensor_ids)

~LocalTrajectoryBuilder3D()

LocalTrajectoryBuilder3D(const LocalTrajectoryBuilder3D&) = delete

LocalTrajectoryBuilder3D &operator=(const LocalTrajectoryBuilder3D&) = delete

void AddImuData(const sensor::ImuData &imu_data)

std::unique_ptr<MatchingResult> AddRangeData(const std::string &sensor_id, const sensor::TimedPointCloudData &range_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 mapping::TrajectoryNode::Data> constant_data

std::vector<std::shared_ptr<const mapping::Submap3D>> 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