Class OptimizationProblem2D

Defined in File optimization_problem_2d.h

Inheritance Relationships

Base Type

public cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec2D, SubmapSpec2D, transform::Rigid2d > (Template Class OptimizationProblemInterface)

Class Documentation

class OptimizationProblem2D : public cartographer::mapping::optimization::OptimizationProblemInterface<NodeSpec2D, SubmapSpec2D, transform::Rigid2d>

Public Functions

explicit OptimizationProblem2D(const optimization::proto::OptimizationProblemOptions &options)

~OptimizationProblem2D()

OptimizationProblem2D(const OptimizationProblem2D&) = delete

OptimizationProblem2D &operator=(const OptimizationProblem2D&) = delete

virtual void AddImuData(int trajectory_id, const sensor::ImuData &imu_data) override

virtual void AddOdometryData(int trajectory_id, const sensor::OdometryData &odometry_data) override

virtual void AddTrajectoryNode(int trajectory_id, const NodeSpec2D &node_data) override

virtual void InsertTrajectoryNode(const NodeId &node_id, const NodeSpec2D &node_data) override

virtual void TrimTrajectoryNode(const NodeId &node_id) override

virtual void AddSubmap(int trajectory_id, const transform::Rigid2d &global_submap_pose) override

virtual void InsertSubmap(const SubmapId &submap_id, const transform::Rigid2d &global_submap_pose) override

virtual void TrimSubmap(const SubmapId &submap_id) override

virtual void SetMaxNumIterations(int32 max_num_iterations) override

virtual void Solve(const std::vector<Constraint> &constraints, const std::map<int, PoseGraphInterface::TrajectoryState> &trajectories_state, const std::map<std::string, LandmarkNode> &landmark_nodes) override

inline virtual const MapById<NodeId, NodeSpec2D> &node_data() const override

inline virtual const MapById<SubmapId, SubmapSpec2D> &submap_data() const override

inline virtual const std::map<std::string, transform::Rigid3d> &landmark_data() const override

inline virtual const sensor::MapByTime<sensor::ImuData> &imu_data() const override

inline virtual const sensor::MapByTime<sensor::OdometryData> &odometry_data() const override

void AddFixedFramePoseData(int trajectory_id, const sensor::FixedFramePoseData &fixed_frame_pose_data)

void SetTrajectoryData(int trajectory_id, const PoseGraphInterface::TrajectoryData &trajectory_data)

inline const sensor::MapByTime<sensor::FixedFramePoseData> &fixed_frame_pose_data() const

inline const std::map<int, PoseGraphInterface::TrajectoryData> &trajectory_data() const