Class WallMapper

Class Documentation

class WallMapper

Public Functions

WallMapper(const rclcpp::Node::SharedPtr node)

Contructor of class WallMapper.

Parameters:

private_nh –

~WallMapper()
void factor_wall(const std::shared_ptr<GraphSLAM> covisibility_graph, const Eigen::Vector3d &wall_pose, const Eigen::Vector3d &wall_point, const std::vector<situational_graphs_msgs::msg::PlaneData> x_planes_msg, const std::vector<situational_graphs_msgs::msg::PlaneData> y_planes_msg, std::unordered_map<int, VerticalPlanes> &x_vert_planes, std::unordered_map<int, VerticalPlanes> &y_vert_planes)

Eigen::Vector3d wall_pose,.

Parameters:

  • covisibility_graph –

  • wall_pose –

  • x_planes_msg –

  • y_planes_msg –

  • x_vert_planes –

  • y_vert_planes –

void add_wall_node_and_edge(const std::shared_ptr<GraphSLAM> covisibility_graph, const Eigen::Vector3d &wall_pose, const Eigen::Vector3d &wall_point, VerticalPlanes &plane1, VerticalPlanes &plane2)
Parameters:

  • covisibility_graph –

  • wall_pose –

  • plane1 –

  • plane2 –

Returns: