#include <local_trajectory_builder.h>

Classes
struct	InsertionResult

Public Member Functions
std::unique_ptr< InsertionResult >	AddHorizontalRangeData (common::Time, const sensor::RangeData &range_data)

void	AddImuData (common::Time time, const Eigen::Vector3d &linear_acceleration, const Eigen::Vector3d &angular_velocity)

void	AddOdometerData (common::Time time, const transform::Rigid3d &pose)

	LocalTrajectoryBuilder (const proto::LocalTrajectoryBuilderOptions &options)

	LocalTrajectoryBuilder (const LocalTrajectoryBuilder &)=delete

LocalTrajectoryBuilder &	operator= (const LocalTrajectoryBuilder &)=delete

const mapping::GlobalTrajectoryBuilderInterface::PoseEstimate &	pose_estimate () const

Submaps *	submaps ()

	~LocalTrajectoryBuilder ()

Private Member Functions
void	InitializeImuTracker (common::Time time)

void	Predict (common::Time time)

void	ScanMatch (common::Time time, const transform::Rigid3d &pose_prediction, const transform::Rigid3d &tracking_to_tracking_2d, const sensor::RangeData &range_data_in_tracking_2d, transform::Rigid3d *pose_observation)

sensor::RangeData	TransformAndFilterRangeData (const transform::Rigid3f &tracking_to_tracking_2d, const sensor::RangeData &range_data) const

Private Attributes
scan_matching::CeresScanMatcher	ceres_scan_matcher_

std::unique_ptr< mapping::ImuTracker >	imu_tracker_

mapping::GlobalTrajectoryBuilderInterface::PoseEstimate	last_pose_estimate_

common::Time	last_scan_match_time_ = common::Time::min()

mapping_3d::MotionFilter	motion_filter_

transform::Rigid3d	odometry_correction_ = transform::Rigid3d::Identity()

mapping::OdometryStateTracker	odometry_state_tracker_

const proto::LocalTrajectoryBuilderOptions	options_

transform::Rigid3d	pose_estimate_ = transform::Rigid3d::Identity()

scan_matching::RealTimeCorrelativeScanMatcher	real_time_correlative_scan_matcher_

Submaps	submaps_

common::Time	time_ = common::Time::min()

Eigen::Vector2d	velocity_estimate_ = Eigen::Vector2d::Zero()

Detailed Description

Definition at line 40 of file mapping_2d/local_trajectory_builder.h.

Constructor & Destructor Documentation

cartographer::mapping_2d::LocalTrajectoryBuilder::LocalTrajectoryBuilder ( const proto::LocalTrajectoryBuilderOptions & options )

explicit

Definition at line 27 of file mapping_2d/local_trajectory_builder.cc.

cartographer::mapping_2d::LocalTrajectoryBuilder::~LocalTrajectoryBuilder ( )

Definition at line 37 of file mapping_2d/local_trajectory_builder.cc.

cartographer::mapping_2d::LocalTrajectoryBuilder::LocalTrajectoryBuilder ( const LocalTrajectoryBuilder & )

delete

Member Function Documentation

std::unique_ptr< LocalTrajectoryBuilder::InsertionResult > cartographer::mapping_2d::LocalTrajectoryBuilder::AddHorizontalRangeData	(	common::Time	time,
		const sensor::RangeData &	range_data
	)

Definition at line 101 of file mapping_2d/local_trajectory_builder.cc.

void cartographer::mapping_2d::LocalTrajectoryBuilder::AddImuData	(	common::Time	time,
		const Eigen::Vector3d &	linear_acceleration,
		const Eigen::Vector3d &	angular_velocity
	)

Definition at line 199 of file mapping_2d/local_trajectory_builder.cc.

void cartographer::mapping_2d::LocalTrajectoryBuilder::AddOdometerData	(	common::Time	time,
		const transform::Rigid3d &	pose
	)

Definition at line 210 of file mapping_2d/local_trajectory_builder.cc.

void cartographer::mapping_2d::LocalTrajectoryBuilder::InitializeImuTracker ( common::Time time )

private

Definition at line 231 of file mapping_2d/local_trajectory_builder.cc.

LocalTrajectoryBuilder& cartographer::mapping_2d::LocalTrajectoryBuilder::operator= ( const LocalTrajectoryBuilder & )

delete

const mapping::GlobalTrajectoryBuilderInterface::PoseEstimate & cartographer::mapping_2d::LocalTrajectoryBuilder::pose_estimate ( ) const

Definition at line 195 of file mapping_2d/local_trajectory_builder.cc.

void cartographer::mapping_2d::LocalTrajectoryBuilder::Predict ( common::Time time )

private

Definition at line 238 of file mapping_2d/local_trajectory_builder.cc.

void cartographer::mapping_2d::LocalTrajectoryBuilder::ScanMatch	(	common::Time	time,
		const transform::Rigid3d &	pose_prediction,
		const transform::Rigid3d &	tracking_to_tracking_2d,
		const sensor::RangeData &	range_data_in_tracking_2d,
		transform::Rigid3d *	pose_observation
	)

private

Definition at line 68 of file mapping_2d/local_trajectory_builder.cc.

Submaps * cartographer::mapping_2d::LocalTrajectoryBuilder::submaps ( )

Definition at line 39 of file mapping_2d/local_trajectory_builder.cc.

sensor::RangeData cartographer::mapping_2d::LocalTrajectoryBuilder::TransformAndFilterRangeData	(	const transform::Rigid3f &	tracking_to_tracking_2d,
		const sensor::RangeData &	range_data
	)		const

private

Definition at line 41 of file mapping_2d/local_trajectory_builder.cc.

Member Data Documentation

scan_matching::CeresScanMatcher cartographer::mapping_2d::LocalTrajectoryBuilder::ceres_scan_matcher_

private

Definition at line 103 of file mapping_2d/local_trajectory_builder.h.

std::unique_ptr<mapping::ImuTracker> cartographer::mapping_2d::LocalTrajectoryBuilder::imu_tracker_

private

Definition at line 105 of file mapping_2d/local_trajectory_builder.h.

mapping::GlobalTrajectoryBuilderInterface::PoseEstimate cartographer::mapping_2d::LocalTrajectoryBuilder::last_pose_estimate_

private

Definition at line 88 of file mapping_2d/local_trajectory_builder.h.

common::Time cartographer::mapping_2d::LocalTrajectoryBuilder::last_scan_match_time_ = common::Time::min()

private

Definition at line 94 of file mapping_2d/local_trajectory_builder.h.

mapping_3d::MotionFilter cartographer::mapping_2d::LocalTrajectoryBuilder::motion_filter_

private

Definition at line 100 of file mapping_2d/local_trajectory_builder.h.

transform::Rigid3d cartographer::mapping_2d::LocalTrajectoryBuilder::odometry_correction_ = transform::Rigid3d::Identity()

private

Definition at line 98 of file mapping_2d/local_trajectory_builder.h.

mapping::OdometryStateTracker cartographer::mapping_2d::LocalTrajectoryBuilder::odometry_state_tracker_

private

Definition at line 106 of file mapping_2d/local_trajectory_builder.h.

const proto::LocalTrajectoryBuilderOptions cartographer::mapping_2d::LocalTrajectoryBuilder::options_

private

Definition at line 86 of file mapping_2d/local_trajectory_builder.h.

transform::Rigid3d cartographer::mapping_2d::LocalTrajectoryBuilder::pose_estimate_ = transform::Rigid3d::Identity()

private

Definition at line 92 of file mapping_2d/local_trajectory_builder.h.

scan_matching::RealTimeCorrelativeScanMatcher cartographer::mapping_2d::LocalTrajectoryBuilder::real_time_correlative_scan_matcher_

private

Definition at line 102 of file mapping_2d/local_trajectory_builder.h.

Submaps cartographer::mapping_2d::LocalTrajectoryBuilder::submaps_

private

Definition at line 87 of file mapping_2d/local_trajectory_builder.h.

common::Time cartographer::mapping_2d::LocalTrajectoryBuilder::time_ = common::Time::min()

private

Definition at line 91 of file mapping_2d/local_trajectory_builder.h.

Eigen::Vector2d cartographer::mapping_2d::LocalTrajectoryBuilder::velocity_estimate_ = Eigen::Vector2d::Zero()

private

Definition at line 93 of file mapping_2d/local_trajectory_builder.h.

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

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation