Class LifelongSlamToolbox

Defined in File slam_toolbox_lifelong.hpp

Inheritance Relationships

Base Type

public slam_toolbox::SlamToolbox (Class SlamToolbox)

Class Documentation

class LifelongSlamToolbox : public slam_toolbox::SlamToolbox 

Public Functions

explicit LifelongSlamToolbox(rclcpp::NodeOptions options)

inline ~LifelongSlamToolbox()

CallbackReturn on_configure(const rclcpp_lifecycle::State &state) override

double computeObjectiveScore(const double &intersect_over_union, const double &area_overlap, const double &reading_overlap, const int &num_constraints, const double &initial_score, const int &num_candidates) const

Public Static Functions

static double computeIntersect(LocalizedRangeScan *s1, LocalizedRangeScan *s2)

static double computeIntersectOverUnion(LocalizedRangeScan *s1, LocalizedRangeScan *s2)

static double computeAreaOverlapRatio(LocalizedRangeScan *ref_scan, LocalizedRangeScan *candidate_scan)

static double computeReadingOverlapRatio(LocalizedRangeScan *ref_scan, LocalizedRangeScan *candidate_scan)

static void computeIntersectBounds(LocalizedRangeScan *s1, LocalizedRangeScan *s2, double &x_l, double &x_u, double &y_l, double &y_u)

Protected Functions

virtual void laserCallback(sensor_msgs::msg::LaserScan::ConstSharedPtr scan) override

virtual bool deserializePoseGraphCallback(const std::shared_ptr<rmw_request_id_t> request_header, const std::shared_ptr<slam_toolbox::srv::DeserializePoseGraph::Request> req, std::shared_ptr<slam_toolbox::srv::DeserializePoseGraph::Response> resp) override

void evaluateNodeDepreciation(LocalizedRangeScan *range_scan)

void removeFromSlamGraph(Vertex<LocalizedRangeScan> *vertex)

double computeScore(LocalizedRangeScan *reference_scan, Vertex<LocalizedRangeScan> *candidate, const double &initial_score, const int &num_candidates)

ScoredVertices computeScores(Vertices &near_scans, LocalizedRangeScan *range_scan)

Vertices FindScansWithinRadius(LocalizedRangeScan *scan, const double &radius)

void updateScoresSlamGraph(const double &score, Vertex<LocalizedRangeScan> *vertex)

void checkIsNotNormalized(const double &value)

Protected Attributes

bool use_tree_

double iou_thresh_

double removal_score_

double overlap_scale_

double constraint_scale_

double candidates_scale_

double iou_match_

double nearby_penalty_