Class GraphSLAM

Class Documentation

class GraphSLAM

Wrapper class for running GraphSLAM on Scans.

Public Types

using GraphMatrix = Eigen::SparseMatrix<double>
using GraphVector = Eigen::VectorXd
using Graph = std::vector<std::pair<int, int>>

Public Functions

GraphSLAM(const SLAMOptions *options)
virtual ~GraphSLAM() = default
void doGraphSLAM(const std::vector<SLAMScanPtr> &scans, size_t last, const std::vector<bool> &new_scans = std::vector<bool>()) const

runs the GraphSLAM algorithm

Parameters:

  • scans – The scans to work on

  • last – The index of the last Scan to consider. scans may be longer, but anything after last will be ignored

Protected Functions

void createGraph(const std::vector<SLAMScanPtr> &scans, size_t last, Graph &graph) const

Creates a graph. An edge between nodes(scans) means posible overlap.

Parameters:

  • scans – reference to a vector containing the SlamScanPtr

  • last – number of the last considered scan

  • graph – Outputs the created graph

void fillEquation(const std::vector<SLAMScanPtr> &scans, const Graph &graph, GraphMatrix &mat, GraphVector &vec) const

A function to fill the linear system mat * x = vec.

Parameters:

  • scans – reference to a vector containing the SlamScanPtr

  • graph – the graph created in the createGraph function

  • mat – Outputs the GraphMatrix

  • vec – Outputs the GraphVector

void eulerCovariance(KDTreePtr<Vector3f> tree, SLAMScanPtr scan, Matrix6d &outMat, Vector6d &outVec) const

Protected Attributes

const SLAMOptions *m_options