Class PoseExtrapolatorInterface

• Defined in File pose_extrapolator_interface.h

Nested Relationships

Nested Types

• Struct PoseExtrapolatorInterface::ExtrapolationResult

Inheritance Relationships

Derived Types

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

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

Class Documentation

class PoseExtrapolatorInterface

Subclassed by cartographer::mapping::ImuBasedPoseExtrapolator, cartographer::mapping::PoseExtrapolator

Public Functions

PoseExtrapolatorInterface(const PoseExtrapolatorInterface&) = delete

PoseExtrapolatorInterface &operator=(const PoseExtrapolatorInterface&) = delete

inline virtual ~PoseExtrapolatorInterface()

virtual common::Time GetLastPoseTime() const = 0

virtual common::Time GetLastExtrapolatedTime() const = 0

virtual void AddPose(common::Time time, const transform::Rigid3d &pose) = 0

virtual void AddImuData(const sensor::ImuData &imu_data) = 0

virtual void AddOdometryData(const sensor::OdometryData &odometry_data) = 0

virtual transform::Rigid3d ExtrapolatePose(common::Time time) = 0

virtual ExtrapolationResult ExtrapolatePosesWithGravity(const std::vector<common::Time> &times) = 0

virtual Eigen::Quaterniond EstimateGravityOrientation(common::Time time) = 0

Public Static Functions

static std::unique_ptr<PoseExtrapolatorInterface> CreateWithImuData(const proto::PoseExtrapolatorOptions &options, const std::vector<sensor::ImuData> &imu_data, const std::vector<transform::TimestampedTransform> &initial_poses)

Protected Functions

inline PoseExtrapolatorInterface()

struct ExtrapolationResult

Public Members

std::vector<transform::Rigid3f> previous_poses

transform::Rigid3d current_pose

Eigen::Vector3d current_velocity

Eigen::Quaterniond gravity_from_tracking