Classes | Public Member Functions | Private Member Functions | Private Attributes | List of all members
cartographer::mapping_2d::LocalTrajectoryBuilder Class Reference

#include <local_trajectory_builder.h>

Classes

struct  InsertionResult
 

Public Member Functions

std::unique_ptr< InsertionResultAddHorizontalRangeData (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
 
LocalTrajectoryBuilderoperator= (const LocalTrajectoryBuilder &)=delete
 
const mapping::GlobalTrajectoryBuilderInterface::PoseEstimatepose_estimate () const
 
Submapssubmaps ()
 
 ~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::ImuTrackerimu_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:


cartographer
Author(s):
autogenerated on Mon Jun 10 2019 12:51:39