Class PoseGraphInterface

• Defined in File pose_graph_interface.h

Nested Relationships

Nested Types

• Struct PoseGraphInterface::Constraint

• Struct Constraint::Pose

• Struct PoseGraphInterface::LandmarkNode

• Struct LandmarkNode::LandmarkObservation

• Struct PoseGraphInterface::SubmapData

• Struct PoseGraphInterface::SubmapPose

• Struct PoseGraphInterface::TrajectoryData

Inheritance Relationships

Derived Types

• public cartographer::cloud::PoseGraphStub (Class PoseGraphStub)

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

• public cartographer::mapping::testing::MockPoseGraph (Class MockPoseGraph)

Class Documentation

class PoseGraphInterface

Subclassed by cartographer::cloud::PoseGraphStub, cartographer::mapping::PoseGraph, cartographer::mapping::testing::MockPoseGraph

Public Types

enum class TrajectoryState

Values:

enumerator ACTIVE

enumerator FINISHED

enumerator FROZEN

enumerator DELETED

using GlobalSlamOptimizationCallback = std::function<void(const std::map<int, SubmapId>&, const std::map<int, NodeId>&)>

Public Functions

inline PoseGraphInterface()

inline virtual ~PoseGraphInterface()

PoseGraphInterface(const PoseGraphInterface&) = delete

PoseGraphInterface &operator=(const PoseGraphInterface&) = delete

virtual void RunFinalOptimization() = 0

virtual MapById<SubmapId, SubmapData> GetAllSubmapData() const = 0

virtual SubmapData GetSubmapData(const SubmapId &submap_id) const = 0

virtual MapById<SubmapId, SubmapPose> GetAllSubmapPoses() const = 0

virtual transform::Rigid3d GetLocalToGlobalTransform(int trajectory_id) const = 0

virtual MapById<NodeId, TrajectoryNode> GetTrajectoryNodes() const = 0

virtual MapById<NodeId, TrajectoryNodePose> GetTrajectoryNodePoses() const = 0

virtual std::map<int, TrajectoryState> GetTrajectoryStates() const = 0

virtual std::map<std::string, transform::Rigid3d> GetLandmarkPoses() const = 0

virtual void SetLandmarkPose(const std::string &landmark_id, const transform::Rigid3d &global_pose, const bool frozen = false) = 0

virtual void DeleteTrajectory(int trajectory_id) = 0

virtual bool IsTrajectoryFinished(int trajectory_id) const = 0

virtual bool IsTrajectoryFrozen(int trajectory_id) const = 0

virtual std::map<int, TrajectoryData> GetTrajectoryData() const = 0

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

virtual proto::PoseGraph ToProto(bool include_unfinished_submaps) const = 0

virtual void SetGlobalSlamOptimizationCallback(GlobalSlamOptimizationCallback callback) = 0

struct Constraint

Public Types

enum Tag

Values:

enumerator INTRA_SUBMAP

enumerator INTER_SUBMAP

Public Members

SubmapId submap_id

NodeId node_id

Pose pose

enum cartographer::mapping::PoseGraphInterface::Constraint::Tag tag

struct Pose

Public Members

transform::Rigid3d zbar_ij

double translation_weight

double rotation_weight

struct LandmarkNode

Public Members

std::vector<LandmarkObservation> landmark_observations

absl::optional<transform::Rigid3d> global_landmark_pose

bool frozen = false

struct LandmarkObservation

Public Members

int trajectory_id

common::Time time

transform::Rigid3d landmark_to_tracking_transform

double translation_weight

double rotation_weight

struct SubmapData

Public Members

std::shared_ptr<const Submap> submap

transform::Rigid3d pose

struct SubmapPose

Public Members

int version

transform::Rigid3d pose

struct TrajectoryData

Public Members

double gravity_constant = 9.8

std::array<double, 4> imu_calibration = {{1., 0., 0., 0.}}

absl::optional<transform::Rigid3d> fixed_frame_origin_in_map