Class ConstraintBuilder3D

Defined in File constraint_builder_3d.h

Nested Relationships

Nested Types

Struct ConstraintBuilder3D::SubmapScanMatcher

Class Documentation

class ConstraintBuilder3D

Public Types

using Constraint = mapping::PoseGraphInterface::Constraint 

using Result = std::vector<Constraint>

Public Functions

ConstraintBuilder3D(const proto::ConstraintBuilderOptions &options, common::ThreadPoolInterface *thread_pool)

~ConstraintBuilder3D()

ConstraintBuilder3D(const ConstraintBuilder3D&) = delete

ConstraintBuilder3D &operator=(const ConstraintBuilder3D&) = delete

void MaybeAddConstraint(const SubmapId &submap_id, const Submap3D *submap, const NodeId &node_id, const TrajectoryNode::Data *const constant_data, const transform::Rigid3d &global_node_pose, const transform::Rigid3d &global_submap_pose)

void MaybeAddGlobalConstraint(const SubmapId &submap_id, const Submap3D *submap, const NodeId &node_id, const TrajectoryNode::Data *const constant_data, const Eigen::Quaterniond &global_node_rotation, const Eigen::Quaterniond &global_submap_rotation)

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)