Class PoseGraph2D

• Defined in File pose_graph_2d.h

Nested Relationships

Nested Types

• Class PoseGraph2D::TrimmingHandle

Inheritance Relationships

Base Type

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

Class Documentation

class PoseGraph2D : public cartographer::mapping::PoseGraph

Public Functions

PoseGraph2D(const proto::PoseGraphOptions &options, std::unique_ptr<optimization::OptimizationProblem2D> optimization_problem, common::ThreadPool *thread_pool)

~PoseGraph2D() override

PoseGraph2D(const PoseGraph2D&) = delete

PoseGraph2D &operator=(const PoseGraph2D&) = delete

NodeId AddNode (std::shared_ptr< const TrajectoryNode::Data > constant_data, int trajectory_id, const std::vector< std::shared_ptr< const Submap2D >> &insertion_submaps) LOCKS_EXCLUDED(mutex_)

virtual void AddImuData (int trajectory_id, const sensor::ImuData &imu_data) override LOCKS_EXCLUDED(mutex_)

virtual void AddOdometryData (int trajectory_id, const sensor::OdometryData &odometry_data) override LOCKS_EXCLUDED(mutex_)

virtual void AddFixedFramePoseData (int trajectory_id, const sensor::FixedFramePoseData &fixed_frame_pose_data) override LOCKS_EXCLUDED(mutex_)

virtual void AddLandmarkData (int trajectory_id, const sensor::LandmarkData &landmark_data) override LOCKS_EXCLUDED(mutex_)

virtual void DeleteTrajectory(int trajectory_id) override

virtual void FinishTrajectory(int trajectory_id) override

virtual bool IsTrajectoryFinished (int trajectory_id) const override EXCLUSIVE_LOCKS_REQUIRED(mutex_)

virtual void FreezeTrajectory(int trajectory_id) override

virtual bool IsTrajectoryFrozen (int trajectory_id) const override EXCLUSIVE_LOCKS_REQUIRED(mutex_)

virtual void AddSubmapFromProto(const transform::Rigid3d &global_submap_pose, const proto::Submap &submap) override

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

void SetTrajectoryDataFromProto(const proto::TrajectoryData &data) override

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

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

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

virtual void RunFinalOptimization() override

virtual std::vector< std::vector< int > > GetConnectedTrajectories () const override LOCKS_EXCLUDED(mutex_)

virtual PoseGraphInterface::SubmapData GetSubmapData (const SubmapId &submap_id) const LOCKS_EXCLUDED(mutex_) override

virtual MapById< SubmapId, PoseGraphInterface::SubmapData > GetAllSubmapData () const LOCKS_EXCLUDED(mutex_) override

virtual MapById< SubmapId, SubmapPose > GetAllSubmapPoses () const LOCKS_EXCLUDED(mutex_) override

virtual transform::Rigid3d GetLocalToGlobalTransform (int trajectory_id) const LOCKS_EXCLUDED(mutex_) override

virtual MapById< NodeId, TrajectoryNode > GetTrajectoryNodes () const override LOCKS_EXCLUDED(mutex_)

virtual MapById< NodeId, TrajectoryNodePose > GetTrajectoryNodePoses () const override LOCKS_EXCLUDED(mutex_)

virtual std::map< int, TrajectoryState > GetTrajectoryStates () const override LOCKS_EXCLUDED(mutex_)

virtual std::map< std::string, transform::Rigid3d > GetLandmarkPoses () const override LOCKS_EXCLUDED(mutex_)

virtual void SetLandmarkPose (const std::string &landmark_id, const transform::Rigid3d &global_pose, const bool frozen=false) override LOCKS_EXCLUDED(mutex_)

virtual sensor::MapByTime< sensor::ImuData > GetImuData () const override LOCKS_EXCLUDED(mutex_)

virtual sensor::MapByTime< sensor::OdometryData > GetOdometryData () const override LOCKS_EXCLUDED(mutex_)

virtual sensor::MapByTime< sensor::FixedFramePoseData > GetFixedFramePoseData () const override LOCKS_EXCLUDED(mutex_)

virtual std::map< std::string, PoseGraph::LandmarkNode > GetLandmarkNodes () const override LOCKS_EXCLUDED(mutex_)

virtual std::map< int, TrajectoryData > GetTrajectoryData () const override LOCKS_EXCLUDED(mutex_)

virtual std::vector< Constraint > constraints () const override LOCKS_EXCLUDED(mutex_)

virtual void SetInitialTrajectoryPose (int from_trajectory_id, int to_trajectory_id, const transform::Rigid3d &pose, const common::Time time) override LOCKS_EXCLUDED(mutex_)

virtual void SetGlobalSlamOptimizationCallback(PoseGraphInterface::GlobalSlamOptimizationCallback callback) override

transform::Rigid3d GetInterpolatedGlobalTrajectoryPose (int trajectory_id, const common::Time time) const EXCLUSIVE_LOCKS_REQUIRED(mutex_)

Public Static Functions

static void RegisterMetrics(metrics::FamilyFactory *family_factory)