Class ConstraintBuilder2D

Defined in File constraint_builder_2d.h

Nested Relationships

Nested Types

Struct ConstraintBuilder2D::SubmapScanMatcher

Class Documentation

class ConstraintBuilder2D

Public Types

using Constraint = PoseGraphInterface::Constraint 

using Result = std::vector<Constraint>

Public Functions

ConstraintBuilder2D(const proto::ConstraintBuilderOptions &options, common::ThreadPoolInterface *thread_pool)

~ConstraintBuilder2D()

ConstraintBuilder2D(const ConstraintBuilder2D&) = delete

ConstraintBuilder2D &operator=(const ConstraintBuilder2D&) = delete

void MaybeAddConstraint(const SubmapId &submap_id, const Submap2D *submap, const NodeId &node_id, const TrajectoryNode::Data *const constant_data, const transform::Rigid2d &initial_relative_pose)

void MaybeAddGlobalConstraint(const SubmapId &submap_id, const Submap2D *submap, const NodeId &node_id, const TrajectoryNode::Data *const constant_data)

void NotifyEndOfNode()

void WhenDone(const std::function<void(const Result&)> &callback)

int GetNumFinishedNodes()

void DeleteScanMatcher(const SubmapId &submap_id)

Public Static Functions

static void RegisterMetrics(metrics::FamilyFactory *family_factory)