Public Member Functions | Private Member Functions | Private Attributes | List of all members
cartographer::mapping_3d::KalmanLocalTrajectoryBuilder Class Reference

#include <kalman_local_trajectory_builder.h>

Inheritance diagram for cartographer::mapping_3d::KalmanLocalTrajectoryBuilder:
Inheritance graph
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Public Member Functions

void AddImuData (common::Time time, const Eigen::Vector3d &linear_acceleration, const Eigen::Vector3d &angular_velocity) override
 
void AddOdometerData (common::Time time, const transform::Rigid3d &pose) override
 
std::unique_ptr< InsertionResultAddRangefinderData (common::Time time, const Eigen::Vector3f &origin, const sensor::PointCloud &ranges) override
 
 KalmanLocalTrajectoryBuilder (const proto::LocalTrajectoryBuilderOptions &options)
 
 KalmanLocalTrajectoryBuilder (const KalmanLocalTrajectoryBuilder &)=delete
 
KalmanLocalTrajectoryBuilderoperator= (const KalmanLocalTrajectoryBuilder &)=delete
 
const PoseEstimatepose_estimate () const override
 
mapping_3d::Submapssubmaps () override
 
 ~KalmanLocalTrajectoryBuilder () override
 
- Public Member Functions inherited from cartographer::mapping_3d::LocalTrajectoryBuilderInterface
 LocalTrajectoryBuilderInterface (const LocalTrajectoryBuilderInterface &)=delete
 
LocalTrajectoryBuilderInterfaceoperator= (const LocalTrajectoryBuilderInterface &)=delete
 
virtual ~LocalTrajectoryBuilderInterface ()
 

Private Member Functions

std::unique_ptr< InsertionResultAddAccumulatedRangeData (common::Time time, const sensor::RangeData &range_data_in_tracking)
 
std::unique_ptr< InsertionResultInsertIntoSubmap (common::Time time, const sensor::RangeData &range_data_in_tracking, const transform::Rigid3d &pose_observation)
 

Private Attributes

sensor::RangeData accumulated_range_data_
 
std::unique_ptr< scan_matching::CeresScanMatcherceres_scan_matcher_
 
transform::Rigid3f first_pose_prediction_
 
PoseEstimate last_pose_estimate_
 
MotionFilter motion_filter_
 
int num_accumulated_
 
const proto::LocalTrajectoryBuilderOptions options_
 
std::unique_ptr< kalman_filter::PoseTrackerpose_tracker_
 
std::unique_ptr< scan_matching::RealTimeCorrelativeScanMatcherreal_time_correlative_scan_matcher_
 
transform::Rigid3d scan_matcher_pose_estimate_
 
std::unique_ptr< mapping_3d::Submapssubmaps_
 

Additional Inherited Members

- Public Types inherited from cartographer::mapping_3d::LocalTrajectoryBuilderInterface
using PoseEstimate = mapping::GlobalTrajectoryBuilderInterface::PoseEstimate
 
- Protected Member Functions inherited from cartographer::mapping_3d::LocalTrajectoryBuilderInterface
 LocalTrajectoryBuilderInterface ()
 

Detailed Description

Definition at line 39 of file kalman_local_trajectory_builder.h.

Constructor & Destructor Documentation

cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::KalmanLocalTrajectoryBuilder ( const proto::LocalTrajectoryBuilderOptions &  options)
explicit

Definition at line 31 of file kalman_local_trajectory_builder.cc.

cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::~KalmanLocalTrajectoryBuilder ( )
override

Definition at line 47 of file kalman_local_trajectory_builder.cc.

cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::KalmanLocalTrajectoryBuilder ( const KalmanLocalTrajectoryBuilder )
delete

Member Function Documentation

std::unique_ptr< KalmanLocalTrajectoryBuilder::InsertionResult > cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::AddAccumulatedRangeData ( common::Time  time,
const sensor::RangeData range_data_in_tracking 
)
private

Definition at line 124 of file kalman_local_trajectory_builder.cc.

void cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::AddImuData ( common::Time  time,
const Eigen::Vector3d &  linear_acceleration,
const Eigen::Vector3d &  angular_velocity 
)
overridevirtual
void cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::AddOdometerData ( common::Time  time,
const transform::Rigid3d pose 
)
overridevirtual
std::unique_ptr< KalmanLocalTrajectoryBuilder::InsertionResult > cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::AddRangefinderData ( common::Time  time,
const Eigen::Vector3f &  origin,
const sensor::PointCloud ranges 
)
overridevirtual
std::unique_ptr< KalmanLocalTrajectoryBuilder::InsertionResult > cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::InsertIntoSubmap ( common::Time  time,
const sensor::RangeData range_data_in_tracking,
const transform::Rigid3d pose_observation 
)
private

Definition at line 216 of file kalman_local_trajectory_builder.cc.

KalmanLocalTrajectoryBuilder& cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::operator= ( const KalmanLocalTrajectoryBuilder )
delete
const KalmanLocalTrajectoryBuilder::PoseEstimate & cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::pose_estimate ( ) const
overridevirtual
mapping_3d::Submaps * cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::submaps ( )
overridevirtual

Member Data Documentation

sensor::RangeData cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::accumulated_range_data_
private

Definition at line 84 of file kalman_local_trajectory_builder.h.

std::unique_ptr<scan_matching::CeresScanMatcher> cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::ceres_scan_matcher_
private

Definition at line 78 of file kalman_local_trajectory_builder.h.

transform::Rigid3f cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::first_pose_prediction_
private

Definition at line 83 of file kalman_local_trajectory_builder.h.

PoseEstimate cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::last_pose_estimate_
private

Definition at line 70 of file kalman_local_trajectory_builder.h.

MotionFilter cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::motion_filter_
private

Definition at line 75 of file kalman_local_trajectory_builder.h.

int cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::num_accumulated_
private

Definition at line 82 of file kalman_local_trajectory_builder.h.

const proto::LocalTrajectoryBuilderOptions cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::options_
private

Definition at line 67 of file kalman_local_trajectory_builder.h.

std::unique_ptr<kalman_filter::PoseTracker> cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::pose_tracker_
private

Definition at line 80 of file kalman_local_trajectory_builder.h.

std::unique_ptr<scan_matching::RealTimeCorrelativeScanMatcher> cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::real_time_correlative_scan_matcher_
private

Definition at line 77 of file kalman_local_trajectory_builder.h.

transform::Rigid3d cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::scan_matcher_pose_estimate_
private

Definition at line 73 of file kalman_local_trajectory_builder.h.

std::unique_ptr<mapping_3d::Submaps> cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::submaps_
private

Definition at line 68 of file kalman_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