cartographer::mapping::PoseGraph3D Class Reference

#include <pose_graph_3d.h>

Inheritance diagram for cartographer::mapping::PoseGraph3D:

List of all members.

Classes
class	TrimmingHandle
Public Member Functions
void	AddFixedFramePoseData (int trajectory_id, const sensor::FixedFramePoseData &fixed_frame_pose_data) override LOCKS_EXCLUDED(mutex_)
void	AddImuData (int trajectory_id, const sensor::ImuData &imu_data) override LOCKS_EXCLUDED(mutex_)
void	AddLandmarkData (int trajectory_id, const sensor::LandmarkData &landmark_data) override LOCKS_EXCLUDED(mutex_)
NodeId	AddNode (std::shared_ptr< const TrajectoryNode::Data > constant_data, int trajectory_id, const std::vector< std::shared_ptr< const Submap3D >> &insertion_submaps) LOCKS_EXCLUDED(mutex_)
void	AddNodeFromProto (const transform::Rigid3d &global_pose, const proto::Node &node) override
void	AddNodeToSubmap (const NodeId &node_id, const SubmapId &submap_id) override
void	AddOdometryData (int trajectory_id, const sensor::OdometryData &odometry_data) override LOCKS_EXCLUDED(mutex_)
void	AddSerializedConstraints (const std::vector< Constraint > &constraints) override
void	AddSubmapFromProto (const transform::Rigid3d &global_submap_pose, const proto::Submap &submap) override
void	AddTrimmer (std::unique_ptr< PoseGraphTrimmer > trimmer) override
std::vector< Constraint >	constraints () const override LOCKS_EXCLUDED(mutex_)
void	DeleteTrajectory (int trajectory_id) override
void	FinishTrajectory (int trajectory_id) override
void	FreezeTrajectory (int trajectory_id) override
MapById< SubmapId, SubmapData >	GetAllSubmapData () const LOCKS_EXCLUDED(mutex_) override
MapById< SubmapId, SubmapPose >	GetAllSubmapPoses () const LOCKS_EXCLUDED(mutex_) override
std::vector< std::vector< int > >	GetConnectedTrajectories () const override LOCKS_EXCLUDED(mutex_)
sensor::MapByTime < sensor::FixedFramePoseData >	GetFixedFramePoseData () const override LOCKS_EXCLUDED(mutex_)
sensor::MapByTime < sensor::ImuData >	GetImuData () const override LOCKS_EXCLUDED(mutex_)
transform::Rigid3d	GetInterpolatedGlobalTrajectoryPose (int trajectory_id, const common::Time time) const EXCLUSIVE_LOCKS_REQUIRED(mutex_)
std::map< std::string, PoseGraph::LandmarkNode >	GetLandmarkNodes () const override LOCKS_EXCLUDED(mutex_)
std::map< std::string, transform::Rigid3d >	GetLandmarkPoses () const override LOCKS_EXCLUDED(mutex_)
transform::Rigid3d	GetLocalToGlobalTransform (int trajectory_id) const LOCKS_EXCLUDED(mutex_) override
sensor::MapByTime < sensor::OdometryData >	GetOdometryData () const override LOCKS_EXCLUDED(mutex_)
PoseGraph::SubmapData	GetSubmapData (const SubmapId &submap_id) const LOCKS_EXCLUDED(mutex_) override
std::map< int, TrajectoryData >	GetTrajectoryData () const override
MapById< NodeId, TrajectoryNodePose >	GetTrajectoryNodePoses () const override LOCKS_EXCLUDED(mutex_)
MapById< NodeId, TrajectoryNode >	GetTrajectoryNodes () const override LOCKS_EXCLUDED(mutex_)
std::map< int, TrajectoryState >	GetTrajectoryStates () const override LOCKS_EXCLUDED(mutex_)
bool	IsTrajectoryFinished (int trajectory_id) const override EXCLUSIVE_LOCKS_REQUIRED(mutex_)
bool	IsTrajectoryFrozen (int trajectory_id) const override EXCLUSIVE_LOCKS_REQUIRED(mutex_)
PoseGraph3D &	operator= (const PoseGraph3D &)
	PoseGraph3D (const proto::PoseGraphOptions &options, std::unique_ptr< optimization::OptimizationProblem3D > optimization_problem, common::ThreadPool *thread_pool)
	PoseGraph3D (const PoseGraph3D &)
void	RunFinalOptimization () override
void	SetGlobalSlamOptimizationCallback (PoseGraphInterface::GlobalSlamOptimizationCallback callback) override
void	SetInitialTrajectoryPose (int from_trajectory_id, int to_trajectory_id, const transform::Rigid3d &pose, const common::Time time) override LOCKS_EXCLUDED(mutex_)
void	SetLandmarkPose (const std::string &landmark_id, const transform::Rigid3d &global_pose, const bool frozen=false) override LOCKS_EXCLUDED(mutex_)
void	SetTrajectoryDataFromProto (const proto::TrajectoryData &data) override
	~PoseGraph3D () override
Static Public Member Functions
static void	RegisterMetrics (metrics::FamilyFactory *family_factory)
Protected Member Functions
void	WaitForAllComputations () LOCKS_EXCLUDED(mutex_) LOCKS_EXCLUDED(work_queue_mutex_)
Private Member Functions
void	AddTrajectoryIfNeeded (int trajectory_id) EXCLUSIVE_LOCKS_REQUIRED(mutex_)
void	AddWorkItem (const std::function< WorkItem::Result()> &work_item) LOCKS_EXCLUDED(mutex_) LOCKS_EXCLUDED(work_queue_mutex_)
NodeId	AppendNode (std::shared_ptr< const TrajectoryNode::Data > constant_data, int trajectory_id, const std::vector< std::shared_ptr< const Submap3D >> &insertion_submaps, const transform::Rigid3d &optimized_pose) LOCKS_EXCLUDED(mutex_)
bool	CanAddWorkItemModifying (int trajectory_id) EXCLUSIVE_LOCKS_REQUIRED(mutex_)
void	ComputeConstraint (const NodeId &node_id, const SubmapId &submap_id) LOCKS_EXCLUDED(mutex_)
WorkItem::Result	ComputeConstraintsForNode (const NodeId &node_id, std::vector< std::shared_ptr< const Submap3D >> insertion_submaps, bool newly_finished_submap) LOCKS_EXCLUDED(mutex_)
transform::Rigid3d	ComputeLocalToGlobalTransform (const MapById< SubmapId, optimization::SubmapSpec3D > &global_submap_poses, int trajectory_id) const EXCLUSIVE_LOCKS_REQUIRED(mutex_)
void	DeleteTrajectoriesIfNeeded () EXCLUSIVE_LOCKS_REQUIRED(mutex_)
void	DrainWorkQueue () LOCKS_EXCLUDED(mutex_) LOCKS_EXCLUDED(work_queue_mutex_)
common::Time	GetLatestNodeTime (const NodeId &node_id, const SubmapId &submap_id) const EXCLUSIVE_LOCKS_REQUIRED(mutex_)
MapById< SubmapId, SubmapData >	GetSubmapDataUnderLock () const EXCLUSIVE_LOCKS_REQUIRED(mutex_)
PoseGraph::SubmapData	GetSubmapDataUnderLock (const SubmapId &submap_id) const EXCLUSIVE_LOCKS_REQUIRED(mutex_)
std::unique_ptr< WorkQueue > work_queue_	GUARDED_BY (work_queue_mutex_)
absl::flat_hash_map< int, std::unique_ptr < common::FixedRatioSampler > > global_localization_samplers_	GUARDED_BY (mutex_)
int num_nodes_since_last_loop_closure_	GUARDED_BY (mutex_)=0
std::vector< std::unique_ptr < PoseGraphTrimmer > > trimmers_	GUARDED_BY (mutex_)
PoseGraphData data_	GUARDED_BY (mutex_)
void	HandleWorkQueue (const constraints::ConstraintBuilder3D::Result &result) LOCKS_EXCLUDED(mutex_) LOCKS_EXCLUDED(work_queue_mutex_)
std::vector< SubmapId >	InitializeGlobalSubmapPoses (int trajectory_id, const common::Time time, const std::vector< std::shared_ptr< const Submap3D >> &insertion_submaps) EXCLUSIVE_LOCKS_REQUIRED(mutex_)
void	LogResidualHistograms () const EXCLUSIVE_LOCKS_REQUIRED(mutex_)
void	RunOptimization () LOCKS_EXCLUDED(mutex_)
void	UpdateTrajectoryConnectivity (const Constraint &constraint) EXCLUSIVE_LOCKS_REQUIRED(mutex_)
Private Attributes
constraints::ConstraintBuilder3D	constraint_builder_
GlobalSlamOptimizationCallback	global_slam_optimization_callback_
absl::Mutex	mutex_
std::unique_ptr < optimization::OptimizationProblem3D >	optimization_problem_
const proto::PoseGraphOptions	options_
common::ThreadPool *const	thread_pool_
absl::Mutex	work_queue_mutex_

---

Detailed Description

Definition at line 62 of file pose_graph_3d.h.

---

Constructor & Destructor Documentation

cartographer::mapping::PoseGraph3D::PoseGraph3D	(	const proto::PoseGraphOptions &	options,
		std::unique_ptr< optimization::OptimizationProblem3D >	optimization_problem,
		common::ThreadPool *	thread_pool
	)

Definition at line 49 of file pose_graph_3d.cc.

cartographer::mapping::PoseGraph3D::~PoseGraph3D

(

)

[override]

Definition at line 58 of file pose_graph_3d.cc.

cartographer::mapping::PoseGraph3D::PoseGraph3D

(

const PoseGraph3D &

)

---

Member Function Documentation

void cartographer::mapping::PoseGraph3D::AddFixedFramePoseData	(	int	trajectory_id,
		const sensor::FixedFramePoseData &	fixed_frame_pose_data
	)		[override, virtual]

Implements cartographer::mapping::PoseGraph.

Definition at line 217 of file pose_graph_3d.cc.

void cartographer::mapping::PoseGraph3D::AddImuData	(	int	trajectory_id,
		const sensor::ImuData &	imu_data
	)		[override, virtual]

Implements cartographer::mapping::PoseGraph.

Definition at line 195 of file pose_graph_3d.cc.

void cartographer::mapping::PoseGraph3D::AddLandmarkData	(	int	trajectory_id,
		const sensor::LandmarkData &	landmark_data
	)		[override, virtual]

Implements cartographer::mapping::PoseGraph.

Definition at line 230 of file pose_graph_3d.cc.

NodeId cartographer::mapping::PoseGraph3D::AddNode	(	std::shared_ptr< const TrajectoryNode::Data >	constant_data,
		int	trajectory_id,
		const std::vector< std::shared_ptr< const Submap3D >> &	insertion_submaps
	)

Definition at line 141 of file pose_graph_3d.cc.

void cartographer::mapping::PoseGraph3D::AddNodeFromProto	(	const transform::Rigid3d &	global_pose,
		const proto::Node &	node
	)		[override, virtual]

Implements cartographer::mapping::PoseGraph.

Definition at line 695 of file pose_graph_3d.cc.

void cartographer::mapping::PoseGraph3D::AddNodeToSubmap	(	const NodeId &	node_id,
		const SubmapId &	submap_id
	)		[override, virtual]

Implements cartographer::mapping::PoseGraph.

Definition at line 744 of file pose_graph_3d.cc.

void cartographer::mapping::PoseGraph3D::AddOdometryData	(	int	trajectory_id,
		const sensor::OdometryData &	odometry_data
	)		[override, virtual]

Implements cartographer::mapping::PoseGraph.

Definition at line 206 of file pose_graph_3d.cc.

void cartographer::mapping::PoseGraph3D::AddSerializedConstraints

(

const std::vector< Constraint > &

constraints

)

[override, virtual]

Implements cartographer::mapping::PoseGraph.

Definition at line 755 of file pose_graph_3d.cc.

void cartographer::mapping::PoseGraph3D::AddSubmapFromProto	(	const transform::Rigid3d &	global_submap_pose,
		const proto::Submap &	submap
	)		[override, virtual]

Implements cartographer::mapping::PoseGraph.

Definition at line 657 of file pose_graph_3d.cc.

void cartographer::mapping::PoseGraph3D::AddTrajectoryIfNeeded

(

int

trajectory_id

)

[private]

Definition at line 178 of file pose_graph_3d.cc.

void cartographer::mapping::PoseGraph3D::AddTrimmer

(

std::unique_ptr< PoseGraphTrimmer >

trimmer

)

[override, virtual]

Implements cartographer::mapping::PoseGraph.

Definition at line 782 of file pose_graph_3d.cc.

void cartographer::mapping::PoseGraph3D::AddWorkItem

(

const std::function< WorkItem::Result()> &

work_item

)

[private]

Definition at line 161 of file pose_graph_3d.cc.

NodeId cartographer::mapping::PoseGraph3D::AppendNode	(	std::shared_ptr< const TrajectoryNode::Data >	constant_data,
		int	trajectory_id,
		const std::vector< std::shared_ptr< const Submap3D >> &	insertion_submaps,
		const transform::Rigid3d &	optimized_pose
	)		[private]

Definition at line 113 of file pose_graph_3d.cc.

bool cartographer::mapping::PoseGraph3D::CanAddWorkItemModifying

(

int

trajectory_id

)

[private]

Definition at line 889 of file pose_graph_3d.cc.

void cartographer::mapping::PoseGraph3D::ComputeConstraint	(	const NodeId &	node_id,
		const SubmapId &	submap_id
	)		[private]

Definition at line 247 of file pose_graph_3d.cc.

WorkItem::Result cartographer::mapping::PoseGraph3D::ComputeConstraintsForNode	(	const NodeId &	node_id,
		std::vector< std::shared_ptr< const Submap3D >>	insertion_submaps,
		bool	newly_finished_submap
	)		[private]

Definition at line 306 of file pose_graph_3d.cc.

transform::Rigid3d cartographer::mapping::PoseGraph3D::ComputeLocalToGlobalTransform	(	const MapById< SubmapId, optimization::SubmapSpec3D > &	global_submap_poses,
		int	trajectory_id
	)		const [private]

std::vector< PoseGraphInterface::Constraint > cartographer::mapping::PoseGraph3D::constraints

(

)

const [override, virtual]

Implements cartographer::mapping::PoseGraphInterface.

Definition at line 1002 of file pose_graph_3d.cc.

void cartographer::mapping::PoseGraph3D::DeleteTrajectoriesIfNeeded

(

)

[private]

Definition at line 412 of file pose_graph_3d.cc.

void cartographer::mapping::PoseGraph3D::DeleteTrajectory

(

int

trajectory_id

)

[override, virtual]

Implements cartographer::mapping::PoseGraphInterface.

Definition at line 593 of file pose_graph_3d.cc.

void cartographer::mapping::PoseGraph3D::DrainWorkQueue

(

)

[private]

Definition at line 505 of file pose_graph_3d.cc.

void cartographer::mapping::PoseGraph3D::FinishTrajectory

(

int

trajectory_id

)

[override, virtual]

Implements cartographer::mapping::PoseGraph.

Definition at line 619 of file pose_graph_3d.cc.

void cartographer::mapping::PoseGraph3D::FreezeTrajectory

(

int

trajectory_id

)

[override, virtual]

Implements cartographer::mapping::PoseGraph.

Definition at line 638 of file pose_graph_3d.cc.

MapById<SubmapId, SubmapData> cartographer::mapping::PoseGraph3D::GetAllSubmapData

(

)

const [override, virtual]

Implements cartographer::mapping::PoseGraphInterface.

MapById<SubmapId, SubmapPose> cartographer::mapping::PoseGraph3D::GetAllSubmapPoses

(

)

const [override, virtual]

Implements cartographer::mapping::PoseGraphInterface.

std::vector<std::vector<int> > cartographer::mapping::PoseGraph3D::GetConnectedTrajectories

(

)

const [override, virtual]

Implements cartographer::mapping::PoseGraph.

sensor::MapByTime< sensor::FixedFramePoseData > cartographer::mapping::PoseGraph3D::GetFixedFramePoseData

(

)

const [override, virtual]

Implements cartographer::mapping::PoseGraph.

Definition at line 985 of file pose_graph_3d.cc.

sensor::MapByTime< sensor::ImuData > cartographer::mapping::PoseGraph3D::GetImuData

(

)

const [override, virtual]

Implements cartographer::mapping::PoseGraph.

Definition at line 974 of file pose_graph_3d.cc.

transform::Rigid3d cartographer::mapping::PoseGraph3D::GetInterpolatedGlobalTrajectoryPose	(	int	trajectory_id,
		const common::Time	time
	)		const

Definition at line 1016 of file pose_graph_3d.cc.

std::map< std::string, PoseGraphInterface::LandmarkNode > cartographer::mapping::PoseGraph3D::GetLandmarkNodes

(

)

const [override, virtual]

Implements cartographer::mapping::PoseGraph.

Definition at line 991 of file pose_graph_3d.cc.

std::map< std::string, transform::Rigid3d > cartographer::mapping::PoseGraph3D::GetLandmarkPoses

(

)

const [override, virtual]

Implements cartographer::mapping::PoseGraphInterface.

Definition at line 950 of file pose_graph_3d.cc.

common::Time cartographer::mapping::PoseGraph3D::GetLatestNodeTime	(	const NodeId &	node_id,
		const SubmapId &	submap_id
	)		const [private]

Definition at line 389 of file pose_graph_3d.cc.

transform::Rigid3d cartographer::mapping::PoseGraph3D::GetLocalToGlobalTransform

(

int

trajectory_id

)

const [override, virtual]

Implements cartographer::mapping::PoseGraphInterface.

Definition at line 1037 of file pose_graph_3d.cc.

sensor::MapByTime< sensor::OdometryData > cartographer::mapping::PoseGraph3D::GetOdometryData

(

)

const [override, virtual]

Implements cartographer::mapping::PoseGraph.

Definition at line 979 of file pose_graph_3d.cc.

PoseGraph::SubmapData cartographer::mapping::PoseGraph3D::GetSubmapData

(

const SubmapId &

submap_id

)

const [override, virtual]

Implements cartographer::mapping::PoseGraph.

MapById< SubmapId, PoseGraphInterface::SubmapData > cartographer::mapping::PoseGraph3D::GetSubmapDataUnderLock

(

)

const [private]

Definition at line 1236 of file pose_graph_3d.cc.

PoseGraphInterface::SubmapData cartographer::mapping::PoseGraph3D::GetSubmapDataUnderLock

(

const SubmapId &

submap_id

)

const [private]

Definition at line 1098 of file pose_graph_3d.cc.

std::map< int, PoseGraphInterface::TrajectoryData > cartographer::mapping::PoseGraph3D::GetTrajectoryData

(

)

const [override, virtual]

Implements cartographer::mapping::PoseGraphInterface.

Definition at line 997 of file pose_graph_3d.cc.

MapById< NodeId, TrajectoryNodePose > cartographer::mapping::PoseGraph3D::GetTrajectoryNodePoses

(

)

const [override, virtual]

Implements cartographer::mapping::PoseGraphInterface.

Definition at line 922 of file pose_graph_3d.cc.

MapById< NodeId, TrajectoryNode > cartographer::mapping::PoseGraph3D::GetTrajectoryNodes

(

)

const [override, virtual]

Implements cartographer::mapping::PoseGraphInterface.

Definition at line 917 of file pose_graph_3d.cc.

std::map< int, PoseGraphInterface::TrajectoryState > cartographer::mapping::PoseGraph3D::GetTrajectoryStates

(

)

const [override, virtual]

Implements cartographer::mapping::PoseGraphInterface.

Definition at line 941 of file pose_graph_3d.cc.

std::unique_ptr<WorkQueue> work_queue_ cartographer::mapping::PoseGraph3D::GUARDED_BY

(

work_queue_mutex_

)

[private]

absl::flat_hash_map<int, std::unique_ptr<common::FixedRatioSampler> > global_localization_samplers_ cartographer::mapping::PoseGraph3D::GUARDED_BY

(

mutex_

)

[private]

int num_nodes_since_last_loop_closure_ cartographer::mapping::PoseGraph3D::GUARDED_BY

(

mutex_

)

[private, pure virtual]

std::vector<std::unique_ptr<PoseGraphTrimmer> > trimmers_ cartographer::mapping::PoseGraph3D::GUARDED_BY

(

mutex_

)

[private]

PoseGraphData data_ cartographer::mapping::PoseGraph3D::GUARDED_BY

(

mutex_

)

[private]

void cartographer::mapping::PoseGraph3D::HandleWorkQueue

(

const constraints::ConstraintBuilder3D::Result &

result

)

[private]

Definition at line 429 of file pose_graph_3d.cc.

std::vector< SubmapId > cartographer::mapping::PoseGraph3D::InitializeGlobalSubmapPoses	(	int	trajectory_id,
		const common::Time	time,
		const std::vector< std::shared_ptr< const Submap3D >> &	insertion_submaps
	)		[private]

Definition at line 64 of file pose_graph_3d.cc.

bool cartographer::mapping::PoseGraph3D::IsTrajectoryFinished

(

int

trajectory_id

)

const [override, virtual]

Implements cartographer::mapping::PoseGraphInterface.

Definition at line 632 of file pose_graph_3d.cc.

bool cartographer::mapping::PoseGraph3D::IsTrajectoryFrozen

(

int

trajectory_id

)

const [override, virtual]

Implements cartographer::mapping::PoseGraphInterface.

Definition at line 651 of file pose_graph_3d.cc.

void cartographer::mapping::PoseGraph3D::LogResidualHistograms

(

)

const [private]

Definition at line 812 of file pose_graph_3d.cc.

PoseGraph3D& cartographer::mapping::PoseGraph3D::operator=

(

const PoseGraph3D &

)

void cartographer::mapping::PoseGraph3D::RegisterMetrics

(

metrics::FamilyFactory *

family_factory

)

[static]

Definition at line 1250 of file pose_graph_3d.cc.

void cartographer::mapping::PoseGraph3D::RunFinalOptimization

(

)

[override, virtual]

Implements cartographer::mapping::PoseGraphInterface.

Definition at line 792 of file pose_graph_3d.cc.

void cartographer::mapping::PoseGraph3D::RunOptimization

(

)

[private]

Definition at line 838 of file pose_graph_3d.cc.

void cartographer::mapping::PoseGraph3D::SetGlobalSlamOptimizationCallback

(

PoseGraphInterface::GlobalSlamOptimizationCallback

callback

)

[override]

Definition at line 1245 of file pose_graph_3d.cc.

void cartographer::mapping::PoseGraph3D::SetInitialTrajectoryPose	(	int	from_trajectory_id,
		int	to_trajectory_id,
		const transform::Rigid3d &	pose,
		const common::Time	time
	)		[override, virtual]

Implements cartographer::mapping::PoseGraph.

Definition at line 1007 of file pose_graph_3d.cc.

void cartographer::mapping::PoseGraph3D::SetLandmarkPose	(	const std::string &	landmark_id,
		const transform::Rigid3d &	global_pose,
		const bool	frozen = false
	)		[override, virtual]

Implements cartographer::mapping::PoseGraphInterface.

Definition at line 963 of file pose_graph_3d.cc.

void cartographer::mapping::PoseGraph3D::SetTrajectoryDataFromProto

(

const proto::TrajectoryData &

data

)

[override]

Definition at line 722 of file pose_graph_3d.cc.

void cartographer::mapping::PoseGraph3D::UpdateTrajectoryConnectivity

(

const Constraint &

constraint

)

[private]

Definition at line 403 of file pose_graph_3d.cc.

void cartographer::mapping::PoseGraph3D::WaitForAllComputations

(

)

[protected]

Definition at line 530 of file pose_graph_3d.cc.

---

Member Data Documentation

constraints::ConstraintBuilder3D cartographer::mapping::PoseGraph3D::constraint_builder_ [private]

Definition at line 261 of file pose_graph_3d.h.

GlobalSlamOptimizationCallback cartographer::mapping::PoseGraph3D::global_slam_optimization_callback_ [private]

Definition at line 244 of file pose_graph_3d.h.

absl::Mutex cartographer::mapping::PoseGraph3D::mutex_ [mutable, private]

Definition at line 245 of file pose_graph_3d.h.

std::unique_ptr<optimization::OptimizationProblem3D> cartographer::mapping::PoseGraph3D::optimization_problem_ [private]

Definition at line 260 of file pose_graph_3d.h.

const proto::PoseGraphOptions cartographer::mapping::PoseGraph3D::options_ [private]

Definition at line 243 of file pose_graph_3d.h.

common::ThreadPool* const cartographer::mapping::PoseGraph3D::thread_pool_ [private]

Definition at line 264 of file pose_graph_3d.h.

absl::Mutex cartographer::mapping::PoseGraph3D::work_queue_mutex_ [private]

Definition at line 246 of file pose_graph_3d.h.

---

The documentation for this class was generated from the following files:

• pose_graph_3d.h
• pose_graph_3d.cc