Class MapBuilder

• Defined in File map_builder.h

Inheritance Relationships

Base Type

• public cartographer::mapping::MapBuilderInterface (Class MapBuilderInterface)

Class Documentation

class MapBuilder : public cartographer::mapping::MapBuilderInterface

Public Functions

explicit MapBuilder(const proto::MapBuilderOptions &options)

inline ~MapBuilder() override

MapBuilder(const MapBuilder&) = delete

MapBuilder &operator=(const MapBuilder&) = delete

virtual int AddTrajectoryBuilder(const std::set<SensorId> &expected_sensor_ids, const proto::TrajectoryBuilderOptions &trajectory_options, LocalSlamResultCallback local_slam_result_callback) override

virtual int AddTrajectoryForDeserialization(const proto::TrajectoryBuilderOptionsWithSensorIds &options_with_sensor_ids_proto) override

virtual void FinishTrajectory(int trajectory_id) override

virtual std::string SubmapToProto(const SubmapId &submap_id, proto::SubmapQuery::Response *response) override

virtual void SerializeState(bool include_unfinished_submaps, io::ProtoStreamWriterInterface *writer) override

virtual bool SerializeStateToFile(bool include_unfinished_submaps, const std::string &filename) override

virtual std::map<int, int> LoadState(io::ProtoStreamReaderInterface *reader, bool load_frozen_state) override

virtual std::map<int, int> LoadStateFromFile(const std::string &filename, const bool load_frozen_state) override

inline virtual mapping::PoseGraphInterface *pose_graph() override

inline virtual int num_trajectory_builders() const override

inline virtual mapping::TrajectoryBuilderInterface *GetTrajectoryBuilder(int trajectory_id) const override

inline virtual const std::vector<proto::TrajectoryBuilderOptionsWithSensorIds> &GetAllTrajectoryBuilderOptions() const override