Class PoseExtrapolator

• Defined in File pose_extrapolator.h

Nested Relationships

Nested Types

• Struct PoseExtrapolator::TimedPose

Inheritance Relationships

Base Type

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

Class Documentation

class PoseExtrapolator : public cartographer::mapping::PoseExtrapolatorInterface

Public Functions

explicit PoseExtrapolator(common::Duration pose_queue_duration, double imu_gravity_time_constant)

PoseExtrapolator(const PoseExtrapolator&) = delete

PoseExtrapolator &operator=(const PoseExtrapolator&) = delete

virtual common::Time GetLastPoseTime() const override

virtual common::Time GetLastExtrapolatedTime() const override

virtual void AddPose(common::Time time, const transform::Rigid3d &pose) override

virtual void AddImuData(const sensor::ImuData &imu_data) override

virtual void AddOdometryData(const sensor::OdometryData &odometry_data) override

virtual transform::Rigid3d ExtrapolatePose(common::Time time) override

virtual ExtrapolationResult ExtrapolatePosesWithGravity(const std::vector<common::Time> &times) override

virtual Eigen::Quaterniond EstimateGravityOrientation(common::Time time) override

Public Static Functions

static std::unique_ptr<PoseExtrapolator> InitializeWithImu(common::Duration pose_queue_duration, double imu_gravity_time_constant, const sensor::ImuData &imu_data)