Class Submap3D

• Defined in File submap_3d.h

Inheritance Relationships

Base Type

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

Class Documentation

class Submap3D : public cartographer::mapping::Submap

Public Functions

Submap3D(float high_resolution, float low_resolution, const transform::Rigid3d &local_submap_pose, const Eigen::VectorXf &rotational_scan_matcher_histogram)

explicit Submap3D(const proto::Submap3D &proto)

virtual proto::Submap ToProto(bool include_probability_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 HybridGrid &high_resolution_hybrid_grid() const

inline const HybridGrid &low_resolution_hybrid_grid() const

inline const IntensityHybridGrid &high_resolution_intensity_hybrid_grid() const

inline void ForgetIntensityHybridGrid()

inline const Eigen::VectorXf &rotational_scan_matcher_histogram() const

void InsertData(const sensor::RangeData &range_data, const RangeDataInserter3D &range_data_inserter, float high_resolution_max_range, const Eigen::Quaterniond &local_from_gravity_aligned, const Eigen::VectorXf &scan_histogram_in_gravity)

void Finish()