#include <submap_3d.h>

Inheritance diagram for cartographer::mapping::Submap3D:

Public Member Functions
void	Finish ()
const HybridGrid &	high_resolution_hybrid_grid () const
void	InsertData (const sensor::RangeData &range_data, const RangeDataInserter3D &range_data_inserter, float high_resolution_max_range, const Eigen::Quaterniond &local_from_gravity_aligned, const Eigen::VectorXf &scan_histogram_in_gravity)
const HybridGrid &	low_resolution_hybrid_grid () const
const Eigen::VectorXf &	rotational_scan_matcher_histogram () const
	Submap3D (float high_resolution, float low_resolution, const transform::Rigid3d &local_submap_pose, const Eigen::VectorXf &rotational_scan_matcher_histogram)
	Submap3D (const proto::Submap3D &proto)
proto::Submap	ToProto (bool include_probability_grid_data) const override
void	ToResponseProto (const transform::Rigid3d &global_submap_pose, proto::SubmapQuery::Response *response) const override
void	UpdateFromProto (const proto::Submap &proto) override
Private Member Functions
void	UpdateFromProto (const proto::Submap3D &submap_3d)
Private Attributes
std::unique_ptr< HybridGrid >	high_resolution_hybrid_grid_
std::unique_ptr< HybridGrid >	low_resolution_hybrid_grid_
Eigen::VectorXf	rotational_scan_matcher_histogram_

Detailed Description

Definition at line 43 of file submap_3d.h.

Constructor & Destructor Documentation

cartographer::mapping::Submap3D::Submap3D	(	float	high_resolution,
		float	low_resolution,
		const transform::Rigid3d &	local_submap_pose,
		const Eigen::VectorXf &	rotational_scan_matcher_histogram
	)

Definition at line 199 of file submap_3d.cc.

cartographer::mapping::Submap3D::Submap3D ( const proto::Submap3D & proto ) [explicit]

Definition at line 209 of file submap_3d.cc.

void cartographer::mapping::Submap3D::Finish ( )

Definition at line 294 of file submap_3d.cc.

const HybridGrid& cartographer::mapping::Submap3D::high_resolution_hybrid_grid ( ) const [inline]

Definition at line 57 of file submap_3d.h.

void cartographer::mapping::Submap3D::InsertData	(	const sensor::RangeData &	range_data,
		const RangeDataInserter3D &	range_data_inserter,
		float	high_resolution_max_range,
		const Eigen::Quaterniond &	local_from_gravity_aligned,
		const Eigen::VectorXf &	scan_histogram_in_gravity
	)

Definition at line 271 of file submap_3d.cc.

const HybridGrid& cartographer::mapping::Submap3D::low_resolution_hybrid_grid ( ) const [inline]

Definition at line 60 of file submap_3d.h.

const Eigen::VectorXf& cartographer::mapping::Submap3D::rotational_scan_matcher_histogram ( ) const [inline]

Definition at line 63 of file submap_3d.h.

proto::Submap cartographer::mapping::Submap3D::ToProto ( bool include_probability_grid_data ) const [override, virtual]

Definition at line 214 of file submap_3d.cc.

void cartographer::mapping::Submap3D::ToResponseProto	(	const transform::Rigid3d &	global_submap_pose,
		proto::SubmapQuery::Response *	response
	)		const `[override, virtual]`