Class Submap2D

Defined in File submap_2d.h

Inheritance Relationships

Base Type

public cartographer::mapping::Submap (Class Submap)

Class Documentation

class Submap2D : public cartographer::mapping::Submap 

Public Functions

Submap2D(const Eigen::Vector2f &origin, std::unique_ptr<Grid2D> grid, ValueConversionTables *conversion_tables)

explicit Submap2D(const proto::Submap2D &proto, ValueConversionTables *conversion_tables)

virtual proto::Submap ToProto(bool include_grid_data) const override

virtual void UpdateFromProto(const proto::Submap &proto) override

virtual void ToResponseProto(const transform::Rigid3d &global_submap_pose, proto::SubmapQuery::Response *response) const override

inline const Grid2D *grid() const

void InsertRangeData(const sensor::RangeData &range_data, const RangeDataInserterInterface *range_data_inserter)

void Finish()