Struct PoseGraphData

Defined in File pose_graph_data.h

Struct Documentation

struct PoseGraphData

Public Members

MapById<SubmapId, InternalSubmapData> submap_data

MapById<SubmapId, optimization::SubmapSpec2D> global_submap_poses_2d

MapById<SubmapId, optimization::SubmapSpec3D> global_submap_poses_3d

MapById<NodeId, TrajectoryNode> trajectory_nodes

std::map<std::string, PoseGraphInterface::LandmarkNode> landmark_nodes

TrajectoryConnectivityState trajectory_connectivity_state

int num_trajectory_nodes = 0

std::map<int, InternalTrajectoryState> trajectories_state

std::map<int, PoseGraph::InitialTrajectoryPose> initial_trajectory_poses

std::vector<PoseGraphInterface::Constraint> constraints