#include <local_trajectory_builder_3d.h>

Classes
struct	InsertionResult
struct	MatchingResult
Public Member Functions
void	AddImuData (const sensor::ImuData &imu_data)
void	AddOdometryData (const sensor::OdometryData &odometry_data)
std::unique_ptr< MatchingResult >	AddRangeData (const std::string &sensor_id, const sensor::TimedPointCloudData &range_data)
	LocalTrajectoryBuilder3D (const mapping::proto::LocalTrajectoryBuilderOptions3D &options, const std::vector< std::string > &expected_range_sensor_ids)
	LocalTrajectoryBuilder3D (const LocalTrajectoryBuilder3D &)
LocalTrajectoryBuilder3D &	operator= (const LocalTrajectoryBuilder3D &)
	~LocalTrajectoryBuilder3D ()
Static Public Member Functions
static void	RegisterMetrics (metrics::FamilyFactory *family_factory)
Private Member Functions
std::unique_ptr< MatchingResult >	AddAccumulatedRangeData (common::Time time, const sensor::RangeData &filtered_range_data_in_tracking, const absl::optional< common::Duration > &sensor_duration)
std::unique_ptr< InsertionResult >	InsertIntoSubmap (common::Time time, const sensor::RangeData &filtered_range_data_in_local, const sensor::RangeData &filtered_range_data_in_tracking, const sensor::PointCloud &high_resolution_point_cloud_in_tracking, const sensor::PointCloud &low_resolution_point_cloud_in_tracking, const transform::Rigid3d &pose_estimate, const Eigen::Quaterniond &gravity_alignment)
std::unique_ptr < transform::Rigid3d >	ScanMatch (const transform::Rigid3d &pose_prediction, const sensor::PointCloud &low_resolution_point_cloud_in_tracking, const sensor::PointCloud &high_resolution_point_cloud_in_tracking)
Private Attributes
sensor::RangeData	accumulated_range_data_
mapping::ActiveSubmaps3D	active_submaps_
std::unique_ptr < scan_matching::CeresScanMatcher3D >	ceres_scan_matcher_
std::unique_ptr < mapping::PoseExtrapolator >	extrapolator_
absl::optional< common::Time >	last_sensor_time_
absl::optional< double >	last_thread_cpu_time_seconds_
absl::optional < std::chrono::steady_clock::time_point >	last_wall_time_
mapping::MotionFilter	motion_filter_
int	num_accumulated_ = 0
const mapping::proto::LocalTrajectoryBuilderOptions3D	options_
RangeDataCollator	range_data_collator_
std::unique_ptr < scan_matching::RealTimeCorrelativeScanMatcher3D >	real_time_correlative_scan_matcher_

Detailed Description

Definition at line 43 of file local_trajectory_builder_3d.h.

Constructor & Destructor Documentation

cartographer::mapping::LocalTrajectoryBuilder3D::LocalTrajectoryBuilder3D	(	const mapping::proto::LocalTrajectoryBuilderOptions3D &	options,
		const std::vector< std::string > &	expected_range_sensor_ids
	)		`[explicit]`

Definition at line 47 of file local_trajectory_builder_3d.cc.

cartographer::mapping::LocalTrajectoryBuilder3D::~LocalTrajectoryBuilder3D ( )

Definition at line 61 of file local_trajectory_builder_3d.cc.

cartographer::mapping::LocalTrajectoryBuilder3D::LocalTrajectoryBuilder3D ( const LocalTrajectoryBuilder3D & )

Member Function Documentation

std::unique_ptr< LocalTrajectoryBuilder3D::MatchingResult > cartographer::mapping::LocalTrajectoryBuilder3D::AddAccumulatedRangeData	(	common::Time	time,
		const sensor::RangeData &	filtered_range_data_in_tracking,
		const absl::optional< common::Duration > &	sensor_duration
	)		`[private]`

Definition at line 237 of file local_trajectory_builder_3d.cc.

void cartographer::mapping::LocalTrajectoryBuilder3D::AddImuData ( const sensor::ImuData & imu_data )

Definition at line 106 of file local_trajectory_builder_3d.cc.

void cartographer::mapping::LocalTrajectoryBuilder3D::AddOdometryData ( const sensor::OdometryData & odometry_data )

Definition at line 333 of file local_trajectory_builder_3d.cc.

std::unique_ptr< LocalTrajectoryBuilder3D::MatchingResult > cartographer::mapping::LocalTrajectoryBuilder3D::AddRangeData	(	const std::string &	sensor_id,
		const sensor::TimedPointCloudData &	range_data
	)

Definition at line 121 of file local_trajectory_builder_3d.cc.

std::unique_ptr< LocalTrajectoryBuilder3D::InsertionResult > cartographer::mapping::LocalTrajectoryBuilder3D::InsertIntoSubmap	(	common::Time	time,
		const sensor::RangeData &	filtered_range_data_in_local,
		const sensor::RangeData &	filtered_range_data_in_tracking,
		const sensor::PointCloud &	high_resolution_point_cloud_in_tracking,
		const sensor::PointCloud &	low_resolution_point_cloud_in_tracking,
		const transform::Rigid3d &	pose_estimate,
		const Eigen::Quaterniond &	gravity_alignment
	)		`[private]`

Definition at line 344 of file local_trajectory_builder_3d.cc.

LocalTrajectoryBuilder3D& cartographer::mapping::LocalTrajectoryBuilder3D::operator= ( const LocalTrajectoryBuilder3D & )

void cartographer::mapping::LocalTrajectoryBuilder3D::RegisterMetrics ( metrics::FamilyFactory * family_factory ) [static]

Definition at line 381 of file local_trajectory_builder_3d.cc.

std::unique_ptr< transform::Rigid3d > cartographer::mapping::LocalTrajectoryBuilder3D::ScanMatch	(	const transform::Rigid3d &	pose_prediction,
		const sensor::PointCloud &	low_resolution_point_cloud_in_tracking,
		const sensor::PointCloud &	high_resolution_point_cloud_in_tracking
	)		`[private]`