Namespaces | |
| namespace | constraints |
| namespace | internal |
| namespace | optimization |
| namespace | scan_matching |
| namespace | testing |
Classes | |
| class | AccelerationCostFunction3D |
| class | ActiveSubmaps2D |
| class | ActiveSubmaps3D |
| struct | CellLimits |
| class | CollatedTrajectoryBuilder |
| class | ConnectedComponents |
| struct | ConstantYawQuaternionPlus |
| class | DynamicGrid |
| class | FlatGrid |
| struct | Floor |
| class | Grid2D |
| class | GridInterface |
| class | HybridGrid |
| class | HybridGridBase |
| class | ImuTracker |
| struct | IntegrateImuResult |
| struct | InternalSubmapData |
| struct | InternalTrajectoryState |
| class | LocalSlamResult2D |
| class | LocalSlamResult3D |
| class | LocalSlamResultData |
| class | LocalTrajectoryBuilder2D |
| class | LocalTrajectoryBuilder3D |
| class | MapBuilder |
| class | MapBuilderInterface |
| class | MapById |
| class | MapLimits |
| class | MotionFilter |
| class | NestedGrid |
| struct | NodeId |
| class | OverlappingSubmapsTrimmer2D |
| class | PoseExtrapolator |
| class | PoseGraph |
| class | PoseGraph2D |
| class | PoseGraph3D |
| struct | PoseGraphData |
| class | PoseGraphInterface |
| class | PoseGraphTrimmer |
| class | ProbabilityGrid |
| class | ProbabilityGridRangeDataInserter2D |
| class | PureLocalizationTrimmer |
| class | Range |
| class | RangeDataCollator |
| class | RangeDataInserter3D |
| class | RangeDataInserterInterface |
| class | RotationCostFunction3D |
| class | Submap |
| class | Submap2D |
| class | Submap3D |
| class | SubmapController |
| struct | SubmapId |
| struct | Timespan |
| class | TrajectoryBuilderInterface |
| class | TrajectoryConnectivityState |
| struct | TrajectoryNode |
| struct | TrajectoryNodePose |
| class | Trimmable |
| class | TSDF2D |
| class | TSDFRangeDataInserter2D |
| class | TSDValueConverter |
| class | ValueConversionTables |
| struct | WorkItem |
| class | XYIndexRangeIterator |
| struct | YawOnlyQuaternionPlus |
Enumerations | |
| enum | GridType { PROBABILITY_GRID, TSDF } |
| enum | SubmapState { kNoConstraintSearch, kFinished } |
Functions | |
| return global_submap_poses | at (last_optimized_submap_id).global_pose *data_.submap_data.at(last_optimized_submap_id).submap->local_pose().inverse() |
| float | ClampCorrespondenceCost (const float correspondence_cost) |
| float | ClampProbability (const float probability) |
| std::vector< uint16 > | ComputeLookupTableToApplyCorrespondenceCostOdds (float odds) |
| std::vector< uint16 > | ComputeLookupTableToApplyOdds (const float odds) |
| float | CorrespondenceCostToProbability (const float correspondence_cost) |
| uint16 | CorrespondenceCostToValue (const float correspondence_cost) |
| uint16 | CorrespondenceCostValueToProbabilityValue (uint16 correspondence_cost_value) |
| std::unique_ptr < TrajectoryBuilderInterface > | CreateGlobalTrajectoryBuilder2D (std::unique_ptr< LocalTrajectoryBuilder2D > local_trajectory_builder, const int trajectory_id, mapping::PoseGraph2D *const pose_graph, const TrajectoryBuilderInterface::LocalSlamResultCallback &local_slam_result_callback) |
| std::unique_ptr < TrajectoryBuilderInterface > | CreateGlobalTrajectoryBuilder3D (std::unique_ptr< LocalTrajectoryBuilder3D > local_trajectory_builder, const int trajectory_id, mapping::PoseGraph3D *const pose_graph, const TrajectoryBuilderInterface::LocalSlamResultCallback &local_slam_result_callback) |
| proto::GridOptions2D | CreateGridOptions2D (common::LuaParameterDictionary *const parameter_dictionary) |
| proto::LocalTrajectoryBuilderOptions2D | CreateLocalTrajectoryBuilderOptions2D (common::LuaParameterDictionary *const parameter_dictionary) |
| proto::LocalTrajectoryBuilderOptions3D | CreateLocalTrajectoryBuilderOptions3D (common::LuaParameterDictionary *parameter_dictionary) |
| proto::MapBuilderOptions | CreateMapBuilderOptions (common::LuaParameterDictionary *const parameter_dictionary) |
| proto::MotionFilterOptions | CreateMotionFilterOptions (common::LuaParameterDictionary *const parameter_dictionary) |
| proto::NormalEstimationOptions2D | CreateNormalEstimationOptions2D (common::LuaParameterDictionary *parameter_dictionary) |
| proto::PoseGraphOptions | CreatePoseGraphOptions (common::LuaParameterDictionary *const parameter_dictionary) |
| proto::ProbabilityGridRangeDataInserterOptions2D | CreateProbabilityGridRangeDataInserterOptions2D (common::LuaParameterDictionary *parameter_dictionary) |
| proto::RangeDataInserterOptions | CreateRangeDataInserterOptions (common::LuaParameterDictionary *const parameter_dictionary) |
| proto::RangeDataInserterOptions3D | CreateRangeDataInserterOptions3D (common::LuaParameterDictionary *parameter_dictionary) |
| proto::SubmapsOptions2D | CreateSubmapsOptions2D (common::LuaParameterDictionary *const parameter_dictionary) |
| proto::SubmapsOptions3D | CreateSubmapsOptions3D (common::LuaParameterDictionary *parameter_dictionary) |
| proto::TrajectoryBuilderOptions | CreateTrajectoryBuilderOptions (common::LuaParameterDictionary *const parameter_dictionary) |
| proto::TSDFRangeDataInserterOptions2D | CreateTSDFRangeDataInserterOptions2D (common::LuaParameterDictionary *parameter_dictionary) |
| std::vector< Floor > | DetectFloors (const proto::Trajectory &trajectory) |
| std::vector< float > | EstimateNormals (const sensor::RangeData &range_data, const proto::NormalEstimationOptions2D &normal_estimation_options) |
| PoseGraph::Constraint::Tag | FromProto (const proto::PoseGraph::Constraint::Tag &proto) |
| TrajectoryNode::Data | FromProto (const proto::TrajectoryNodeData &proto) |
| std::vector < PoseGraph::Constraint > | FromProto (const ::google::protobuf::RepeatedPtrField< proto::PoseGraph::Constraint > &constraint_protos) |
| TrajectoryBuilderInterface::SensorId | FromProto (const proto::SensorId &sensor_id_proto) |
| std::vector < PoseGraph::Constraint > | FromProto (const ::google::protobuf::RepeatedPtrField< ::cartographer::mapping::proto::PoseGraph::Constraint > &constraint_protos) |
| void | GlobalTrajectoryBuilderRegisterMetrics (metrics::FamilyFactory *factory) |
| template<typename T , typename RangeType , typename IteratorType > | |
| IntegrateImuResult< T > | IntegrateImu (const RangeType &imu_data, const Eigen::Transform< T, 3, Eigen::Affine > &linear_acceleration_calibration, const Eigen::Transform< T, 3, Eigen::Affine > &angular_velocity_calibration, const common::Time start_time, const common::Time end_time, IteratorType *const it) |
| template<typename RangeType , typename IteratorType > | |
| IntegrateImuResult< double > | IntegrateImu (const RangeType &imu_data, const common::Time start_time, const common::Time end_time, IteratorType *const it) |
| template<typename TValueType > | |
| bool | IsDefaultValue (const TValueType &v) |
| template<typename TElementType > | |
| bool | IsDefaultValue (const std::vector< TElementType > &v) |
| float | Logit (float probability) |
| float | Odds (float probability) |
| std::ostream & | operator<< (std::ostream &os, const NodeId &v) |
| std::ostream & | operator<< (std::ostream &os, const SubmapId &v) |
| void | PopulateOverlappingSubmapsTrimmerOptions2D (proto::PoseGraphOptions *const pose_graph_options, common::LuaParameterDictionary *const parameter_dictionary) |
| float | ProbabilityFromOdds (const float odds) |
| float | ProbabilityToCorrespondenceCost (const float probability) |
| uint8 | ProbabilityToLogOddsInteger (const float probability) |
| uint16 | ProbabilityToValue (const float probability) |
| uint16 | ProbabilityValueToCorrespondenceCostValue (uint16 probability_value) |
| range_data_collator_ (expected_range_sensor_ids) | |
| std::vector< Eigen::Array2i > | RayToPixelMask (const Eigen::Array2i &scaled_begin, const Eigen::Array2i &scaled_end, int subpixel_scale) |
| TEST (TrajectoryConnectivityStateTest, UnknownTrajectory) | |
| TEST (TrajectoryConnectivityStateTest, NotConnected) | |
| TEST (TrajectoryConnectivityStateTest, Connected) | |
| TEST (TrajectoryConnectivityStateTest, UpdateConnectionTime) | |
| TEST (TrajectoryConnectivityStateTest, JoinTwoComponents) | |
| Eigen::Array3i | To3DIndex (const int index, const int bits) |
| int | ToFlatIndex (const Eigen::Array3i &index, const int bits) |
| proto::TrajectoryNodeData | ToProto (const TrajectoryNode::Data &constant_data) |
| proto::PoseGraph::Constraint::Tag | ToProto (const PoseGraph::Constraint::Tag &tag) |
| proto::CellLimits | ToProto (const CellLimits &cell_limits) |
| proto::SensorId | ToProto (const TrajectoryBuilderInterface::SensorId &sensor_id) |
| proto::MapLimits | ToProto (const MapLimits &map_limits) |
| proto::ConnectedComponents | ToProto (std::vector< std::vector< int >> connected_components) |
| proto::PoseGraph::Constraint | ToProto (const PoseGraph::Constraint &constraint) |
| float | ValueToCorrespondenceCost (const uint16 value) |
| float | ValueToProbability (const uint16 value) |
Variables | |
| static auto * | kActiveSubmapsMetric = metrics::Gauge::Null() |
| static auto * | kCeresScanMatcherCostMetric = metrics::Histogram::Null() |
| static auto * | kConstraintsDifferentTrajectoryMetric = metrics::Gauge::Null() |
| static auto * | kConstraintsSameTrajectoryMetric = metrics::Gauge::Null() |
| static auto * | kDeletedSubmapsMetric = metrics::Gauge::Null() |
| static auto * | kFrozenSubmapsMetric = metrics::Gauge::Null() |
| static auto * | kLocalSlamCpuRealTimeRatio = metrics::Gauge::Null() |
| static auto * | kLocalSlamInsertIntoSubmapFraction = metrics::Gauge::Null() |
| static auto * | kLocalSlamLatencyMetric = metrics::Gauge::Null() |
| static auto * | kLocalSlamRealTimeRatio = metrics::Gauge::Null() |
| static auto * | kLocalSlamScanMatcherFraction = metrics::Gauge::Null() |
| static auto * | kLocalSlamVoxelFilterFraction = metrics::Gauge::Null() |
| constexpr float | kMaxCorrespondenceCost = 1.f - kMinProbability |
| const float | kMaxLogOdds = Logit(kMaxProbability) |
| constexpr float | kMaxProbability = 1.f - kMinProbability |
| constexpr float | kMinCorrespondenceCost = 1.f - kMaxProbability |
| const float | kMinLogOdds = Logit(kMinProbability) |
| constexpr float | kMinProbability = 0.1f |
| static auto * | kRealTimeCorrelativeScanMatcherScoreMetric |
| static auto * | kScanMatcherResidualAngleMetric = metrics::Histogram::Null() |
| static auto * | kScanMatcherResidualDistanceMetric = metrics::Histogram::Null() |
| constexpr uint16 | kUnknownCorrespondenceValue = kUnknownProbabilityValue |
| constexpr uint16 | kUnknownProbabilityValue = 0 |
| constexpr uint16 | kUpdateMarker = 1u << 15 |
| const std::vector< float > *const | kValueToCorrespondenceCost |
| const std::vector< float > *const | kValueToProbability |
| static auto * | kWorkQueueDelayMetric = metrics::Gauge::Null() |
| std::vector< std::vector< int > > PoseGraph2D::GetConnectedTrajectories() const {absl::MutexLock locker(&mutex_);return data_.trajectory_connectivity_state.Components();}PoseGraphInterface::SubmapData PoseGraph2D::GetSubmapData(const SubmapId &submap_id) const {absl::MutexLock locker(&mutex_);return GetSubmapDataUnderLock(submap_id);}MapById < SubmapId, PoseGraphInterface::SubmapData > PoseGraph2D::GetAllSubmapData() const {absl::MutexLock locker(&mutex_);return GetSubmapDataUnderLock();}MapById < SubmapId, PoseGraphInterface::SubmapPose > PoseGraph2D::GetAllSubmapPoses() const {absl::MutexLock locker(&mutex_);MapById < SubmapId, SubmapPose > submap_poses;for(const auto &submap_id_data:data_.submap_data){auto submap_data=GetSubmapDataUnderLock(submap_id_data.id);submap_poses.Insert(submap_id_data.id, PoseGraph::SubmapPose{submap_data.submap-> num_range_data(), submap_data.pose});}return submap_poses;}transform::Rigid3d PoseGraph2D::ComputeLocalToGlobalTransform(const MapById< SubmapId, optimization::SubmapSpec2D > &global_submap_poses, const int trajectory_id) const {auto begin_it=global_submap_poses.BeginOfTrajectory(trajectory_id);auto end_it=global_submap_poses.EndOfTrajectory(trajectory_id);if(begin_it==end_it){const auto it=data_.initial_trajectory_poses.find(trajectory_id);if(it!=data_.initial_trajectory_poses.end()){return GetInterpolatedGlobalTrajectoryPose(it-> second it second time *it second | relative_pose |
| std::vector< std::vector< int > > PoseGraph2D::GetConnectedTrajectories() const {absl::MutexLock locker(&mutex_);return data_.trajectory_connectivity_state.Components();}PoseGraphInterface::SubmapData PoseGraph2D::GetSubmapData(const SubmapId &submap_id) const {absl::MutexLock locker(&mutex_);return GetSubmapDataUnderLock(submap_id);}MapById < SubmapId, PoseGraphInterface::SubmapData > PoseGraph2D::GetAllSubmapData() const {absl::MutexLock locker(&mutex_);return GetSubmapDataUnderLock();}MapById < SubmapId, PoseGraphInterface::SubmapPose > PoseGraph2D::GetAllSubmapPoses() const {absl::MutexLock locker(&mutex_);MapById < SubmapId, SubmapPose > submap_poses;for(const auto &submap_id_data:data_.submap_data){auto submap_data=GetSubmapDataUnderLock(submap_id_data.id);submap_poses.Insert(submap_id_data.id, PoseGraph::SubmapPose{submap_data.submap-> num_range_data(), submap_data.pose});}return submap_poses;}transform::Rigid3d PoseGraph2D::ComputeLocalToGlobalTransform(const MapById< SubmapId, optimization::SubmapSpec2D > &global_submap_poses, const int trajectory_id) const {auto begin_it=global_submap_poses.BeginOfTrajectory(trajectory_id);auto end_it=global_submap_poses.EndOfTrajectory(trajectory_id);if(begin_it==end_it){const auto it=data_.initial_trajectory_poses.find(trajectory_id);if(it!=data_.initial_trajectory_poses.end()){return GetInterpolatedGlobalTrajectoryPose(it-> second | to_trajectory_id |
Definition at line 38 of file pose_graph_data.h.
| return global_submap_poses cartographer::mapping::at | ( | last_optimized_submap_id | ) |
| float cartographer::mapping::ClampCorrespondenceCost | ( | const float | correspondence_cost | ) | [inline] |
Definition at line 75 of file probability_values.h.
| float cartographer::mapping::ClampProbability | ( | const float | probability | ) | [inline] |
Definition at line 70 of file probability_values.h.
| std::vector< uint16 > cartographer::mapping::ComputeLookupTableToApplyCorrespondenceCostOdds | ( | float | odds | ) |
Definition at line 89 of file probability_values.cc.
| std::vector< uint16 > cartographer::mapping::ComputeLookupTableToApplyOdds | ( | const float | odds | ) |
Definition at line 76 of file probability_values.cc.
| float cartographer::mapping::CorrespondenceCostToProbability | ( | const float | correspondence_cost | ) | [inline] |
Definition at line 60 of file probability_values.h.
| uint16 cartographer::mapping::CorrespondenceCostToValue | ( | const float | correspondence_cost | ) | [inline] |
Definition at line 85 of file probability_values.h.
| uint16 cartographer::mapping::CorrespondenceCostValueToProbabilityValue | ( | uint16 | correspondence_cost_value | ) | [inline] |
Definition at line 127 of file probability_values.h.
| std::unique_ptr< TrajectoryBuilderInterface > cartographer::mapping::CreateGlobalTrajectoryBuilder2D | ( | std::unique_ptr< LocalTrajectoryBuilder2D > | local_trajectory_builder, |
| const int | trajectory_id, | ||
| mapping::PoseGraph2D *const | pose_graph, | ||
| const TrajectoryBuilderInterface::LocalSlamResultCallback & | local_slam_result_callback | ||
| ) |
Definition at line 134 of file global_trajectory_builder.cc.
| std::unique_ptr< TrajectoryBuilderInterface > cartographer::mapping::CreateGlobalTrajectoryBuilder3D | ( | std::unique_ptr< LocalTrajectoryBuilder3D > | local_trajectory_builder, |
| const int | trajectory_id, | ||
| mapping::PoseGraph3D *const | pose_graph, | ||
| const TrajectoryBuilderInterface::LocalSlamResultCallback & | local_slam_result_callback | ||
| ) |
Definition at line 145 of file global_trajectory_builder.cc.
| proto::GridOptions2D cartographer::mapping::CreateGridOptions2D | ( | common::LuaParameterDictionary *const | parameter_dictionary | ) |
Definition at line 47 of file grid_2d.cc.
| proto::LocalTrajectoryBuilderOptions2D cartographer::mapping::CreateLocalTrajectoryBuilderOptions2D | ( | common::LuaParameterDictionary *const | parameter_dictionary | ) |
Definition at line 28 of file local_trajectory_builder_options_2d.cc.
| proto::LocalTrajectoryBuilderOptions3D cartographer::mapping::CreateLocalTrajectoryBuilderOptions3D | ( | common::LuaParameterDictionary * | parameter_dictionary | ) |
Definition at line 29 of file local_trajectory_builder_options_3d.cc.
| proto::MapBuilderOptions cartographer::mapping::CreateMapBuilderOptions | ( | common::LuaParameterDictionary *const | parameter_dictionary | ) |
Definition at line 76 of file map_builder.cc.
| proto::MotionFilterOptions cartographer::mapping::CreateMotionFilterOptions | ( | common::LuaParameterDictionary *const | parameter_dictionary | ) |
Definition at line 25 of file motion_filter.cc.
| proto::NormalEstimationOptions2D cartographer::mapping::CreateNormalEstimationOptions2D | ( | common::LuaParameterDictionary * | parameter_dictionary | ) |
Definition at line 64 of file normal_estimation_2d.cc.
| proto::PoseGraphOptions cartographer::mapping::CreatePoseGraphOptions | ( | common::LuaParameterDictionary *const | parameter_dictionary | ) |
Definition at line 88 of file pose_graph.cc.
| proto::ProbabilityGridRangeDataInserterOptions2D cartographer::mapping::CreateProbabilityGridRangeDataInserterOptions2D | ( | common::LuaParameterDictionary * | parameter_dictionary | ) |
Definition at line 100 of file probability_grid_range_data_inserter_2d.cc.
| proto::RangeDataInserterOptions cartographer::mapping::CreateRangeDataInserterOptions | ( | common::LuaParameterDictionary *const | parameter_dictionary | ) |
Definition at line 25 of file range_data_inserter_interface.cc.
| proto::RangeDataInserterOptions3D cartographer::mapping::CreateRangeDataInserterOptions3D | ( | common::LuaParameterDictionary * | parameter_dictionary | ) |
Definition at line 56 of file range_data_inserter_3d.cc.
| proto::SubmapsOptions2D cartographer::mapping::CreateSubmapsOptions2D | ( | common::LuaParameterDictionary *const | parameter_dictionary | ) |
Definition at line 36 of file submap_2d.cc.
| proto::SubmapsOptions3D cartographer::mapping::CreateSubmapsOptions3D | ( | common::LuaParameterDictionary * | parameter_dictionary | ) |
Definition at line 182 of file submap_3d.cc.
| proto::TrajectoryBuilderOptions cartographer::mapping::CreateTrajectoryBuilderOptions | ( | common::LuaParameterDictionary *const | parameter_dictionary | ) |
Definition at line 42 of file trajectory_builder_interface.cc.
| proto::TSDFRangeDataInserterOptions2D cartographer::mapping::CreateTSDFRangeDataInserterOptions2D | ( | common::LuaParameterDictionary * | parameter_dictionary | ) |
Definition at line 99 of file tsdf_range_data_inserter_2d.cc.
| std::vector< Floor > cartographer::mapping::DetectFloors | ( | const proto::Trajectory & | trajectory | ) |
Definition at line 199 of file detect_floors.cc.
| std::vector< float > cartographer::mapping::EstimateNormals | ( | const sensor::RangeData & | range_data, |
| const proto::NormalEstimationOptions2D & | normal_estimation_options | ||
| ) |
Definition at line 78 of file normal_estimation_2d.cc.
| PoseGraph::Constraint::Tag cartographer::mapping::FromProto | ( | const proto::PoseGraph::Constraint::Tag & | proto | ) |
Definition at line 38 of file pose_graph.cc.
| TrajectoryNode::Data cartographer::mapping::FromProto | ( | const proto::TrajectoryNodeData & | proto | ) |
Definition at line 51 of file trajectory_node.cc.
| std::vector<PoseGraph::Constraint> cartographer::mapping::FromProto | ( | const ::google::protobuf::RepeatedPtrField< proto::PoseGraph::Constraint > & | constraint_protos | ) |
Definition at line 52 of file pose_graph.cc.
| TrajectoryBuilderInterface::SensorId cartographer::mapping::FromProto | ( | const proto::SensorId & | sensor_id_proto | ) |
Definition at line 87 of file trajectory_builder_interface.cc.
| std::vector<PoseGraph::Constraint> cartographer::mapping::FromProto | ( | const ::google::protobuf::RepeatedPtrField< ::cartographer::mapping::proto::PoseGraph::Constraint > & | constraint_protos | ) |
| void cartographer::mapping::GlobalTrajectoryBuilderRegisterMetrics | ( | metrics::FamilyFactory * | factory | ) |
Definition at line 156 of file global_trajectory_builder.cc.
| IntegrateImuResult<T> cartographer::mapping::IntegrateImu | ( | const RangeType & | imu_data, |
| const Eigen::Transform< T, 3, Eigen::Affine > & | linear_acceleration_calibration, | ||
| const Eigen::Transform< T, 3, Eigen::Affine > & | angular_velocity_calibration, | ||
| const common::Time | start_time, | ||
| const common::Time | end_time, | ||
| IteratorType *const | it | ||
| ) |
Definition at line 40 of file imu_integration.h.
| IntegrateImuResult<double> cartographer::mapping::IntegrateImu | ( | const RangeType & | imu_data, |
| const common::Time | start_time, | ||
| const common::Time | end_time, | ||
| IteratorType *const | it | ||
| ) |
Definition at line 86 of file imu_integration.h.
| bool cartographer::mapping::IsDefaultValue | ( | const TValueType & | v | ) |
Definition at line 56 of file hybrid_grid.h.
| bool cartographer::mapping::IsDefaultValue | ( | const std::vector< TElementType > & | v | ) |
Definition at line 62 of file hybrid_grid.h.
| float cartographer::mapping::Logit | ( | float | probability | ) | [inline] |
| float cartographer::mapping::Odds | ( | float | probability | ) | [inline] |
Definition at line 48 of file probability_values.h.
| std::ostream& cartographer::mapping::operator<< | ( | std::ostream & | os, |
| const NodeId & | v | ||
| ) | [inline] |
| std::ostream& cartographer::mapping::operator<< | ( | std::ostream & | os, |
| const SubmapId & | v | ||
| ) | [inline] |
| void cartographer::mapping::PopulateOverlappingSubmapsTrimmerOptions2D | ( | proto::PoseGraphOptions *const | pose_graph_options, |
| common::LuaParameterDictionary *const | parameter_dictionary | ||
| ) |
Definition at line 72 of file pose_graph.cc.
| float cartographer::mapping::ProbabilityFromOdds | ( | const float | odds | ) | [inline] |
Definition at line 52 of file probability_values.h.
| float cartographer::mapping::ProbabilityToCorrespondenceCost | ( | const float | probability | ) | [inline] |
Definition at line 56 of file probability_values.h.
| uint8 cartographer::mapping::ProbabilityToLogOddsInteger | ( | const float | probability | ) | [inline] |
| uint16 cartographer::mapping::ProbabilityToValue | ( | const float | probability | ) | [inline] |
Definition at line 91 of file probability_values.h.
| uint16 cartographer::mapping::ProbabilityValueToCorrespondenceCostValue | ( | uint16 | probability_value | ) | [inline] |
Definition at line 111 of file probability_values.h.
| cartographer::mapping::range_data_collator_ | ( | expected_range_sensor_ids | ) |
Definition at line 59 of file local_trajectory_builder_3d.cc.
| std::vector< Eigen::Array2i > cartographer::mapping::RayToPixelMask | ( | const Eigen::Array2i & | scaled_begin, |
| const Eigen::Array2i & | scaled_end, | ||
| int | subpixel_scale | ||
| ) |
Definition at line 34 of file ray_to_pixel_mask.cc.
| cartographer::mapping::TEST | ( | TrajectoryConnectivityStateTest | , |
| UnknownTrajectory | |||
| ) |
Definition at line 24 of file trajectory_connectivity_state_test.cc.
| cartographer::mapping::TEST | ( | TrajectoryConnectivityStateTest | , |
| NotConnected | |||
| ) |
Definition at line 33 of file trajectory_connectivity_state_test.cc.
| cartographer::mapping::TEST | ( | TrajectoryConnectivityStateTest | , |
| Connected | |||
| ) |
Definition at line 41 of file trajectory_connectivity_state_test.cc.
| cartographer::mapping::TEST | ( | TrajectoryConnectivityStateTest | , |
| UpdateConnectionTime | |||
| ) |
Definition at line 50 of file trajectory_connectivity_state_test.cc.
| cartographer::mapping::TEST | ( | TrajectoryConnectivityStateTest | , |
| JoinTwoComponents | |||
| ) |
Definition at line 65 of file trajectory_connectivity_state_test.cc.
| Eigen::Array3i cartographer::mapping::To3DIndex | ( | const int | index, |
| const int | bits | ||
| ) | [inline] |
Definition at line 47 of file hybrid_grid.h.
| int cartographer::mapping::ToFlatIndex | ( | const Eigen::Array3i & | index, |
| const int | bits | ||
| ) | [inline] |
Definition at line 40 of file hybrid_grid.h.
| proto::TrajectoryNodeData cartographer::mapping::ToProto | ( | const TrajectoryNode::Data & | constant_data | ) |
Definition at line 27 of file trajectory_node.cc.
| proto::PoseGraph::Constraint::Tag cartographer::mapping::ToProto | ( | const PoseGraph::Constraint::Tag & | tag | ) |
Definition at line 27 of file pose_graph.cc.
| proto::CellLimits cartographer::mapping::ToProto | ( | const CellLimits & | cell_limits | ) | [inline] |
Definition at line 47 of file xy_index.h.
| proto::SensorId cartographer::mapping::ToProto | ( | const TrajectoryBuilderInterface::SensorId & | sensor_id | ) |
Definition at line 59 of file trajectory_builder_interface.cc.
| proto::MapLimits cartographer::mapping::ToProto | ( | const MapLimits & | map_limits | ) | [inline] |
Definition at line 98 of file map_limits.h.
| proto::ConnectedComponents cartographer::mapping::ToProto | ( | std::vector< std::vector< int >> | connected_components | ) |
Definition at line 115 of file connected_components.cc.
| proto::PoseGraph::Constraint cartographer::mapping::ToProto | ( | const PoseGraph::Constraint & | constraint | ) |
Definition at line 117 of file pose_graph.cc.
| float cartographer::mapping::ValueToCorrespondenceCost | ( | const uint16 | value | ) | [inline] |
Definition at line 107 of file probability_values.h.
| float cartographer::mapping::ValueToProbability | ( | const uint16 | value | ) | [inline] |
Definition at line 100 of file probability_values.h.
static auto * cartographer::mapping::kActiveSubmapsMetric = metrics::Gauge::Null() [static] |
Definition at line 47 of file pose_graph_2d.cc.
static auto * cartographer::mapping::kCeresScanMatcherCostMetric = metrics::Histogram::Null() [static] |
Definition at line 34 of file local_trajectory_builder_2d.cc.
static auto * cartographer::mapping::kConstraintsDifferentTrajectoryMetric = metrics::Gauge::Null() [static] |
Definition at line 46 of file pose_graph_2d.cc.
static auto * cartographer::mapping::kConstraintsSameTrajectoryMetric = metrics::Gauge::Null() [static] |
Definition at line 45 of file pose_graph_2d.cc.
static auto * cartographer::mapping::kDeletedSubmapsMetric = metrics::Gauge::Null() [static] |
Definition at line 49 of file pose_graph_2d.cc.
static auto * cartographer::mapping::kFrozenSubmapsMetric = metrics::Gauge::Null() [static] |
Definition at line 48 of file pose_graph_2d.cc.
static auto * cartographer::mapping::kLocalSlamCpuRealTimeRatio = metrics::Gauge::Null() [static] |
Definition at line 31 of file local_trajectory_builder_2d.cc.
auto* cartographer::mapping::kLocalSlamInsertIntoSubmapFraction = metrics::Gauge::Null() [static] |
Definition at line 38 of file local_trajectory_builder_3d.cc.
static auto * cartographer::mapping::kLocalSlamLatencyMetric = metrics::Gauge::Null() [static] |
Definition at line 29 of file local_trajectory_builder_2d.cc.
static auto * cartographer::mapping::kLocalSlamRealTimeRatio = metrics::Gauge::Null() [static] |
Definition at line 30 of file local_trajectory_builder_2d.cc.
auto* cartographer::mapping::kLocalSlamScanMatcherFraction = metrics::Gauge::Null() [static] |
Definition at line 37 of file local_trajectory_builder_3d.cc.
auto* cartographer::mapping::kLocalSlamVoxelFilterFraction = metrics::Gauge::Null() [static] |
Definition at line 36 of file local_trajectory_builder_3d.cc.
| constexpr float cartographer::mapping::kMaxCorrespondenceCost = 1.f - kMinProbability |
Definition at line 67 of file probability_values.h.
| const float cartographer::mapping::kMaxLogOdds = Logit(kMaxProbability) |
| constexpr float cartographer::mapping::kMaxProbability = 1.f - kMinProbability |
Definition at line 65 of file probability_values.h.
| constexpr float cartographer::mapping::kMinCorrespondenceCost = 1.f - kMaxProbability |
Definition at line 66 of file probability_values.h.
| const float cartographer::mapping::kMinLogOdds = Logit(kMinProbability) |
| constexpr float cartographer::mapping::kMinProbability = 0.1f |
Definition at line 64 of file probability_values.h.
static auto * cartographer::mapping::kRealTimeCorrelativeScanMatcherScoreMetric [static] |
metrics::Histogram::Null()
Definition at line 32 of file local_trajectory_builder_2d.cc.
static auto * cartographer::mapping::kScanMatcherResidualAngleMetric = metrics::Histogram::Null() [static] |
Definition at line 36 of file local_trajectory_builder_2d.cc.
static auto * cartographer::mapping::kScanMatcherResidualDistanceMetric = metrics::Histogram::Null() [static] |
Definition at line 35 of file local_trajectory_builder_2d.cc.
| constexpr uint16 cartographer::mapping::kUnknownCorrespondenceValue = kUnknownProbabilityValue |
Definition at line 81 of file probability_values.h.
| constexpr uint16 cartographer::mapping::kUnknownProbabilityValue = 0 |
Definition at line 80 of file probability_values.h.
| constexpr uint16 cartographer::mapping::kUpdateMarker = 1u << 15 |
Definition at line 82 of file probability_values.h.
| const std::vector< float > *const cartographer::mapping::kValueToCorrespondenceCost |
PrecomputeValueToCorrespondenceCost().release()
Definition at line 73 of file probability_values.cc.
| const std::vector< float > *const cartographer::mapping::kValueToProbability |
PrecomputeValueToProbability().release()
Definition at line 70 of file probability_values.cc.
static auto * cartographer::mapping::kWorkQueueDelayMetric = metrics::Gauge::Null() [static] |
Definition at line 44 of file pose_graph_2d.cc.
| std::vector< std::vector< int >> PoseGraph3D::GetConnectedTrajectories() const {absl::MutexLock locker(&mutex_) return data_.trajectory_connectivity_state.Components()}PoseGraphInterface::SubmapData PoseGraph3D::GetSubmapData(const SubmapId &submap_id) const {absl::MutexLock locker(&mutex_) return GetSubmapDataUnderLock(submap_id)}MapById< SubmapId, PoseGraphInterface::SubmapData >PoseGraph3D::GetAllSubmapData() const {absl::MutexLock locker(&mutex_) return GetSubmapDataUnderLock()}MapById< SubmapId, PoseGraphInterface::SubmapPose >PoseGraph3D::GetAllSubmapPoses() const {absl::MutexLock locker(&mutex_) MapById< SubmapId, SubmapPose > submap_poses for(const auto &submap_id_data:data_.submap_data){auto submap_data=GetSubmapDataUnderLock(submap_id_data.id) submap_poses.Insert(submap_id_data.id, PoseGraphInterface::SubmapPose{submap_data.submap->num_range_data(), submap_data.pose})}return submap_poses}transform::Rigid3d PoseGraph3D::ComputeLocalToGlobalTransform(const MapById< SubmapId, optimization::SubmapSpec3D > &global_submap_poses, const int trajectory_id) const {auto begin_it=global_submap_poses.BeginOfTrajectory(trajectory_id) auto end_it=global_submap_poses.EndOfTrajectory(trajectory_id) if(begin_it==end_it){const auto it=data_.initial_trajectory_poses.find(trajectory_id) if(it!=data_.initial_trajectory_poses.end()){return GetInterpolatedGlobalTrajectoryPose(it-> second it second time *it second cartographer::mapping::relative_pose |
Definition at line 1075 of file pose_graph_2d.cc.
| std::vector< std::vector< int >> PoseGraph3D::GetConnectedTrajectories() const {absl::MutexLock locker(&mutex_) return data_.trajectory_connectivity_state.Components()}PoseGraphInterface::SubmapData PoseGraph3D::GetSubmapData(const SubmapId &submap_id) const {absl::MutexLock locker(&mutex_) return GetSubmapDataUnderLock(submap_id)}MapById< SubmapId, PoseGraphInterface::SubmapData >PoseGraph3D::GetAllSubmapData() const {absl::MutexLock locker(&mutex_) return GetSubmapDataUnderLock()}MapById< SubmapId, PoseGraphInterface::SubmapPose >PoseGraph3D::GetAllSubmapPoses() const {absl::MutexLock locker(&mutex_) MapById< SubmapId, SubmapPose > submap_poses for(const auto &submap_id_data:data_.submap_data){auto submap_data=GetSubmapDataUnderLock(submap_id_data.id) submap_poses.Insert(submap_id_data.id, PoseGraphInterface::SubmapPose{submap_data.submap->num_range_data(), submap_data.pose})}return submap_poses}transform::Rigid3d PoseGraph3D::ComputeLocalToGlobalTransform(const MapById< SubmapId, optimization::SubmapSpec3D > &global_submap_poses, const int trajectory_id) const {auto begin_it=global_submap_poses.BeginOfTrajectory(trajectory_id) auto end_it=global_submap_poses.EndOfTrajectory(trajectory_id) if(begin_it==end_it){const auto it=data_.initial_trajectory_poses.find(trajectory_id) if(it!=data_.initial_trajectory_poses.end()){return GetInterpolatedGlobalTrajectoryPose(it-> second cartographer::mapping::to_trajectory_id |
Definition at line 1075 of file pose_graph_2d.cc.