Class PoseGraph

• Defined in File pose_graph.h

Nested Relationships

Nested Types

• Struct PoseGraph::InitialTrajectoryPose

Inheritance Relationships

Base Type

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

Derived Types

• public cartographer::mapping::PoseGraph2D (Class PoseGraph2D)

• public cartographer::mapping::PoseGraph3D (Class PoseGraph3D)

Class Documentation

class PoseGraph : public cartographer::mapping::PoseGraphInterface

Subclassed by cartographer::mapping::PoseGraph2D, cartographer::mapping::PoseGraph3D

Public Functions

inline PoseGraph()

inline ~PoseGraph() override

PoseGraph(const PoseGraph&) = delete

PoseGraph &operator=(const PoseGraph&) = delete

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

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

virtual void AddFixedFramePoseData(int trajectory_id, const sensor::FixedFramePoseData &fixed_frame_pose_data) = 0

virtual void AddLandmarkData(int trajectory_id, const sensor::LandmarkData &landmark_data) = 0

virtual void FinishTrajectory(int trajectory_id) = 0

virtual void FreezeTrajectory(int trajectory_id) = 0

virtual void AddSubmapFromProto(const transform::Rigid3d &global_pose, const proto::Submap &submap) = 0

virtual void AddNodeFromProto(const transform::Rigid3d &global_pose, const proto::Node &node) = 0

virtual void SetTrajectoryDataFromProto(const mapping::proto::TrajectoryData &data) = 0

virtual void AddNodeToSubmap(const NodeId &node_id, const SubmapId &submap_id) = 0

virtual void AddSerializedConstraints(const std::vector<Constraint> &constraints) = 0

virtual void AddTrimmer(std::unique_ptr<PoseGraphTrimmer> trimmer) = 0

virtual std::vector<std::vector<int>> GetConnectedTrajectories() const = 0

virtual proto::PoseGraph ToProto(bool include_unfinished_submaps) const override

virtual sensor::MapByTime<sensor::ImuData> GetImuData() const = 0

virtual sensor::MapByTime<sensor::OdometryData> GetOdometryData() const = 0

virtual sensor::MapByTime<sensor::FixedFramePoseData> GetFixedFramePoseData() const = 0

virtual std::map<std::string, PoseGraph::LandmarkNode> GetLandmarkNodes() const = 0

virtual void SetInitialTrajectoryPose(int from_trajectory_id, int to_trajectory_id, const transform::Rigid3d &pose, const common::Time time) = 0

struct InitialTrajectoryPose

Public Members

int to_trajectory_id

transform::Rigid3d relative_pose

common::Time time