#include <constraint_builder_3d.h>

Classes
struct	SubmapScanMatcher
Public Member Functions
	ConstraintBuilder3D (const proto::ConstraintBuilderOptions &options, common::ThreadPoolInterface *thread_pool)
	ConstraintBuilder3D (const ConstraintBuilder3D &)
void	DeleteScanMatcher (const SubmapId &submap_id)
int	GetNumFinishedNodes ()
void	MaybeAddConstraint (const SubmapId &submap_id, const Submap3D submap, const NodeId &node_id, const TrajectoryNode::Data const constant_data, const transform::Rigid3d &global_node_pose, const transform::Rigid3d &global_submap_pose)
void	MaybeAddGlobalConstraint (const SubmapId &submap_id, const Submap3D submap, const NodeId &node_id, const TrajectoryNode::Data const constant_data, const Eigen::Quaterniond &global_node_rotation, const Eigen::Quaterniond &global_submap_rotation)
void	NotifyEndOfNode ()
ConstraintBuilder3D &	operator= (const ConstraintBuilder3D &)
void	WhenDone (const std::function< void(const Result &)> &callback)
	~ConstraintBuilder3D ()
Static Public Member Functions
static void	RegisterMetrics (metrics::FamilyFactory *family_factory)
Private Member Functions
void	ComputeConstraint (const SubmapId &submap_id, const NodeId &node_id, bool match_full_submap, const TrajectoryNode::Data const constant_data, const transform::Rigid3d &global_node_pose, const transform::Rigid3d &global_submap_pose, const SubmapScanMatcher &submap_scan_matcher, std::unique_ptr< Constraint > constraint) LOCKS_EXCLUDED(mutex_)
const SubmapScanMatcher *	DispatchScanMatcherConstruction (const SubmapId &submap_id, const Submap3D *submap) EXCLUSIVE_LOCKS_REQUIRED(mutex_)
int num_started_nodes_	GUARDED_BY (mutex_)=0
int num_finished_nodes_	GUARDED_BY (mutex_)=0
std::unique_ptr< common::Task > finish_node_task_	GUARDED_BY (mutex_)
std::unique_ptr< common::Task > when_done_task_	GUARDED_BY (mutex_)
std::deque< std::unique_ptr < Constraint > > constraints_	GUARDED_BY (mutex_)
std::map< SubmapId, SubmapScanMatcher > submap_scan_matchers_	GUARDED_BY (mutex_)
common::Histogram score_histogram_	GUARDED_BY (mutex_)
common::Histogram rotational_score_histogram_	GUARDED_BY (mutex_)
common::Histogram low_resolution_score_histogram_	GUARDED_BY (mutex_)
void	RunWhenDoneCallback () LOCKS_EXCLUDED(mutex_)
Private Attributes
scan_matching::CeresScanMatcher3D	ceres_scan_matcher_
std::unique_ptr< std::function < void(const Result &)> > when_done_	GUARDED_BY (mutex_)
absl::Mutex	mutex_
const proto::ConstraintBuilderOptions	options_
common::FixedRatioSampler	sampler_
common::ThreadPoolInterface *	thread_pool_

Detailed Description

Definition at line 58 of file constraint_builder_3d.h.

Constructor & Destructor Documentation

cartographer::mapping::constraints::ConstraintBuilder3D::ConstraintBuilder3D	(	const proto::ConstraintBuilderOptions &	options,
		common::ThreadPoolInterface *	thread_pool
	)

Definition at line 58 of file constraint_builder_3d.cc.

cartographer::mapping::constraints::ConstraintBuilder3D::~ConstraintBuilder3D ( )

Definition at line 68 of file constraint_builder_3d.cc.

cartographer::mapping::constraints::ConstraintBuilder3D::ConstraintBuilder3D ( const ConstraintBuilder3D & )

Member Function Documentation

void cartographer::mapping::constraints::ConstraintBuilder3D::ComputeConstraint	(	const SubmapId &	submap_id,
		const NodeId &	node_id,
		bool	match_full_submap,
		const TrajectoryNode::Data *const	constant_data,
		const transform::Rigid3d &	global_node_pose,
		const transform::Rigid3d &	global_submap_pose,
		const SubmapScanMatcher &	submap_scan_matcher,
		std::unique_ptr< Constraint > *	constraint
	)		`[private]`

Definition at line 192 of file constraint_builder_3d.cc.

void cartographer::mapping::constraints::ConstraintBuilder3D::DeleteScanMatcher ( const SubmapId & submap_id )

Definition at line 330 of file constraint_builder_3d.cc.

const ConstraintBuilder3D::SubmapScanMatcher * cartographer::mapping::constraints::ConstraintBuilder3D::DispatchScanMatcherConstruction	(	const SubmapId &	submap_id,
		const Submap3D *	submap
	)		`[private]`

Definition at line 164 of file constraint_builder_3d.cc.

int cartographer::mapping::constraints::ConstraintBuilder3D::GetNumFinishedNodes ( )

Definition at line 325 of file constraint_builder_3d.cc.

int num_started_nodes_ cartographer::mapping::constraints::ConstraintBuilder3D::GUARDED_BY ( mutex_ ) [private, pure virtual]

int num_finished_nodes_ cartographer::mapping::constraints::ConstraintBuilder3D::GUARDED_BY ( mutex_ ) [private, pure virtual]

std::unique_ptr<common::Task> finish_node_task_ cartographer::mapping::constraints::ConstraintBuilder3D::GUARDED_BY ( mutex_ ) [private]

std::unique_ptr<common::Task> when_done_task_ cartographer::mapping::constraints::ConstraintBuilder3D::GUARDED_BY ( mutex_ ) [private]

std::deque<std::unique_ptr<Constraint> > constraints_ cartographer::mapping::constraints::ConstraintBuilder3D::GUARDED_BY ( mutex_ ) [private]

std::map<SubmapId, SubmapScanMatcher> submap_scan_matchers_ cartographer::mapping::constraints::ConstraintBuilder3D::GUARDED_BY ( mutex_ ) [private]

common::Histogram score_histogram_ cartographer::mapping::constraints::ConstraintBuilder3D::GUARDED_BY ( mutex_ ) [private]

common::Histogram rotational_score_histogram_ cartographer::mapping::constraints::ConstraintBuilder3D::GUARDED_BY ( mutex_ ) [private]

common::Histogram low_resolution_score_histogram_ cartographer::mapping::constraints::ConstraintBuilder3D::GUARDED_BY ( mutex_ ) [private]

void cartographer::mapping::constraints::ConstraintBuilder3D::MaybeAddConstraint	(	const SubmapId &	submap_id,
		const Submap3D *	submap,
		const NodeId &	node_id,
		const TrajectoryNode::Data *const	constant_data,
		const transform::Rigid3d &	global_node_pose,
		const transform::Rigid3d &	global_submap_pose
	)

Definition at line 77 of file constraint_builder_3d.cc.

void cartographer::mapping::constraints::ConstraintBuilder3D::MaybeAddGlobalConstraint	(	const SubmapId &	submap_id,
		const Submap3D *	submap,
		const NodeId &	node_id,
		const TrajectoryNode::Data *const	constant_data,
		const Eigen::Quaterniond &	global_node_rotation,
		const Eigen::Quaterniond &	global_submap_rotation
	)

Definition at line 109 of file constraint_builder_3d.cc.

void cartographer::mapping::constraints::ConstraintBuilder3D::NotifyEndOfNode ( )

Definition at line 137 of file constraint_builder_3d.cc.

ConstraintBuilder3D& cartographer::mapping::constraints::ConstraintBuilder3D::operator= ( const ConstraintBuilder3D & )

void cartographer::mapping::constraints::ConstraintBuilder3D::RegisterMetrics ( metrics::FamilyFactory * family_factory ) [static]

Definition at line 339 of file constraint_builder_3d.cc.

void cartographer::mapping::constraints::ConstraintBuilder3D::RunWhenDoneCallback ( ) [private]

Definition at line 297 of file constraint_builder_3d.cc.

void cartographer::mapping::constraints::ConstraintBuilder3D::WhenDone ( const std::function< void(const Result &)> & callback )

Definition at line 151 of file constraint_builder_3d.cc.

Member Data Documentation

scan_matching::CeresScanMatcher3D cartographer::mapping::constraints::ConstraintBuilder3D::ceres_scan_matcher_ [private]

Definition at line 174 of file constraint_builder_3d.h.

std::unique_ptr<std::function<void(const Result&)> > when_done_ cartographer::mapping::constraints::ConstraintBuilder3D::GUARDED_BY(mutex_) [private]

Definition at line 150 of file constraint_builder_3d.h.

absl::Mutex cartographer::mapping::constraints::ConstraintBuilder3D::mutex_ [private]

Definition at line 146 of file constraint_builder_3d.h.

const proto::ConstraintBuilderOptions cartographer::mapping::constraints::ConstraintBuilder3D::options_ [private]

Definition at line 144 of file constraint_builder_3d.h.

common::FixedRatioSampler cartographer::mapping::constraints::ConstraintBuilder3D::sampler_ [private]

Definition at line 173 of file constraint_builder_3d.h.

common::ThreadPoolInterface* cartographer::mapping::constraints::ConstraintBuilder3D::thread_pool_ [private]

Definition at line 145 of file constraint_builder_3d.h.

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

Classes

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation