Class TrajectoryBuilderInterface

Defined in File trajectory_builder_interface.h

Nested Relationships

Nested Types

Inheritance Relationships

Derived Types

public cartographer::cloud::TrajectoryBuilderStub (Class TrajectoryBuilderStub)
public cartographer::mapping::CollatedTrajectoryBuilder (Class CollatedTrajectoryBuilder)
public cartographer::mapping::testing::MockTrajectoryBuilder (Class MockTrajectoryBuilder)

Class Documentation

class TrajectoryBuilderInterface

Subclassed by cartographer::cloud::TrajectoryBuilderStub, cartographer::mapping::CollatedTrajectoryBuilder, cartographer::mapping::testing::MockTrajectoryBuilder

Public Types

using LocalSlamResultCallback = std::function<void(int, common::Time, transform::Rigid3d, sensor::RangeData, std::unique_ptr<const InsertionResult>)>

Public Functions

inline TrajectoryBuilderInterface()

inline virtual ~TrajectoryBuilderInterface()

TrajectoryBuilderInterface(const TrajectoryBuilderInterface&) = delete

TrajectoryBuilderInterface &operator=(const TrajectoryBuilderInterface&) = delete

virtual void AddSensorData(const std::string &sensor_id, const sensor::TimedPointCloudData &timed_point_cloud_data) = 0

virtual void AddSensorData(const std::string &sensor_id, const sensor::ImuData &imu_data) = 0

virtual void AddSensorData(const std::string &sensor_id, const sensor::OdometryData &odometry_data) = 0

virtual void AddSensorData(const std::string &sensor_id, const sensor::FixedFramePoseData &fixed_frame_pose) = 0

virtual void AddSensorData(const std::string &sensor_id, const sensor::LandmarkData &landmark_data) = 0

virtual void AddLocalSlamResultData(std::unique_ptr<mapping::LocalSlamResultData> local_slam_result_data) = 0

struct InsertionResult

Public Members

NodeId node_id

std::shared_ptr<const TrajectoryNode::Data> constant_data

std::vector<std::shared_ptr<const Submap>> insertion_submaps

struct SensorId

Public Types

enum class SensorType

Values:

enumerator RANGE

enumerator IMU

enumerator ODOMETRY

enumerator FIXED_FRAME_POSE

enumerator LANDMARK

enumerator LOCAL_SLAM_RESULT

Public Functions

inline bool operator==(const SensorId &other) const

inline bool operator<(const SensorId &other) const

Public Members

SensorType type

std::string id