cartographer::mapping::MapBuilder Class Reference

#include <map_builder.h>

Public Member Functions
int	AddTrajectoryBuilder (const std::unordered_set< string > &expected_sensor_ids, const proto::TrajectoryBuilderOptions &trajectory_options)
void	FinishTrajectory (int trajectory_id)
int	GetBlockingTrajectoryId () const
mapping::TrajectoryBuilder *	GetTrajectoryBuilder (int trajectory_id) const
	MapBuilder (const proto::MapBuilderOptions &options)
	MapBuilder (const MapBuilder &)=delete
int	num_trajectory_builders () const
MapBuilder &	operator= (const MapBuilder &)=delete
mapping::SparsePoseGraph *	sparse_pose_graph ()
string	SubmapToProto (int trajectory_id, int submap_index, proto::SubmapQuery::Response *response)
	~MapBuilder ()

Private Attributes
const proto::MapBuilderOptions	options_
sensor::Collator	sensor_collator_
mapping::SparsePoseGraph *	sparse_pose_graph_
std::unique_ptr< mapping_2d::SparsePoseGraph >	sparse_pose_graph_2d_
std::unique_ptr< mapping_3d::SparsePoseGraph >	sparse_pose_graph_3d_
common::ThreadPool	thread_pool_
std::vector< std::unique_ptr< mapping::TrajectoryBuilder > >	trajectory_builders_

Detailed Description

Definition at line 48 of file map_builder.h.

Constructor & Destructor Documentation

cartographer::mapping::MapBuilder::MapBuilder

(

const proto::MapBuilderOptions &

options

)

Definition at line 54 of file map_builder.cc.

cartographer::mapping::MapBuilder::~MapBuilder

(

)

Definition at line 68 of file map_builder.cc.

cartographer::mapping::MapBuilder::MapBuilder ( const MapBuilder &  )

delete

Member Function Documentation

int cartographer::mapping::MapBuilder::AddTrajectoryBuilder	(	const std::unordered_set< string > &	expected_sensor_ids,
		const proto::TrajectoryBuilderOptions &	trajectory_options
	)

Definition at line 70 of file map_builder.cc.

void cartographer::mapping::MapBuilder::FinishTrajectory

(

int

trajectory_id

)

Definition at line 99 of file map_builder.cc.

int cartographer::mapping::MapBuilder::GetBlockingTrajectoryId

(

)

const

Definition at line 103 of file map_builder.cc.

TrajectoryBuilder * cartographer::mapping::MapBuilder::GetTrajectoryBuilder

(

int

trajectory_id

)

const

Definition at line 94 of file map_builder.cc.

int cartographer::mapping::MapBuilder::num_trajectory_builders

(

)

const

Definition at line 131 of file map_builder.cc.

MapBuilder& cartographer::mapping::MapBuilder::operator= ( const MapBuilder &  )

delete

SparsePoseGraph * cartographer::mapping::MapBuilder::sparse_pose_graph

(

)

Definition at line 135 of file map_builder.cc.

string cartographer::mapping::MapBuilder::SubmapToProto	(	int	trajectory_id,
		int	submap_index,
		proto::SubmapQuery::Response *	response
	)

Definition at line 107 of file map_builder.cc.

Member Data Documentation

const proto::MapBuilderOptions cartographer::mapping::MapBuilder::options_

private

Definition at line 85 of file map_builder.h.

sensor::Collator cartographer::mapping::MapBuilder::sensor_collator_

private

Definition at line 92 of file map_builder.h.

mapping::SparsePoseGraph* cartographer::mapping::MapBuilder::sparse_pose_graph_

private

Definition at line 90 of file map_builder.h.

std::unique_ptr<mapping_2d::SparsePoseGraph> cartographer::mapping::MapBuilder::sparse_pose_graph_2d_

private

Definition at line 88 of file map_builder.h.

std::unique_ptr<mapping_3d::SparsePoseGraph> cartographer::mapping::MapBuilder::sparse_pose_graph_3d_

private

Definition at line 89 of file map_builder.h.

common::ThreadPool cartographer::mapping::MapBuilder::thread_pool_

private

Definition at line 86 of file map_builder.h.

std::vector<std::unique_ptr<mapping::TrajectoryBuilder> > cartographer::mapping::MapBuilder::trajectory_builders_

private

Definition at line 93 of file map_builder.h.

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

• map_builder.h
• map_builder.cc