#include <optimizing_local_trajectory_builder.h>

Inheritance diagram for cartographer::mapping_3d::OptimizingLocalTrajectoryBuilder:

Classes
struct	Batch

struct	OdometerData

struct	State

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< InsertionResult >	AddRangefinderData (common::Time time, const Eigen::Vector3f &origin, const sensor::PointCloud &ranges) override

OptimizingLocalTrajectoryBuilder &	operator= (const OptimizingLocalTrajectoryBuilder &)=delete

	OptimizingLocalTrajectoryBuilder (const proto::LocalTrajectoryBuilderOptions &options)

	OptimizingLocalTrajectoryBuilder (const OptimizingLocalTrajectoryBuilder &)=delete

const PoseEstimate &	pose_estimate () const override

mapping_3d::Submaps *	submaps () override

	~OptimizingLocalTrajectoryBuilder () override

Public Member Functions inherited from cartographer::mapping_3d::LocalTrajectoryBuilderInterface
	LocalTrajectoryBuilderInterface (const LocalTrajectoryBuilderInterface &)=delete

LocalTrajectoryBuilderInterface &	operator= (const LocalTrajectoryBuilderInterface &)=delete

virtual	~LocalTrajectoryBuilderInterface ()

Private Member Functions
std::unique_ptr< InsertionResult >	AddAccumulatedRangeData (common::Time time, const transform::Rigid3d &pose_observation, const sensor::RangeData &range_data_in_tracking)

std::unique_ptr< InsertionResult >	InsertIntoSubmap (const common::Time time, const sensor::RangeData &range_data_in_tracking, const transform::Rigid3d &pose_observation)

std::unique_ptr< InsertionResult >	MaybeOptimize (common::Time time)

State	PredictState (const State &start_state, const common::Time start_time, const common::Time end_time)

void	RemoveObsoleteSensorData ()

void	TransformStates (const transform::Rigid3d &transform)

Private Attributes
std::deque< Batch >	batches_

const ceres::Solver::Options	ceres_solver_options_

double	gravity_constant_ = 9.8

std::deque< ImuData >	imu_data_

PoseEstimate	last_pose_estimate_

MotionFilter	motion_filter_

int	num_accumulated_

std::deque< OdometerData >	odometer_data_

const proto::LocalTrajectoryBuilderOptions	options_

std::unique_ptr< mapping_3d::Submaps >	submaps_

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 40 of file optimizing_local_trajectory_builder.h.

Constructor & Destructor Documentation

cartographer::mapping_3d::OptimizingLocalTrajectoryBuilder::OptimizingLocalTrajectoryBuilder ( const proto::LocalTrajectoryBuilderOptions & options )

explicit

Definition at line 104 of file optimizing_local_trajectory_builder.cc.

cartographer::mapping_3d::OptimizingLocalTrajectoryBuilder::~OptimizingLocalTrajectoryBuilder ( )

override

Definition at line 113 of file optimizing_local_trajectory_builder.cc.

cartographer::mapping_3d::OptimizingLocalTrajectoryBuilder::OptimizingLocalTrajectoryBuilder ( const OptimizingLocalTrajectoryBuilder & )

delete

Member Function Documentation

std::unique_ptr< OptimizingLocalTrajectoryBuilder::InsertionResult > cartographer::mapping_3d::OptimizingLocalTrajectoryBuilder::AddAccumulatedRangeData	(	common::Time	time,
		const transform::Rigid3d &	pose_observation,
		const sensor::RangeData &	range_data_in_tracking
	)

private

Definition at line 377 of file optimizing_local_trajectory_builder.cc.

void cartographer::mapping_3d::OptimizingLocalTrajectoryBuilder::AddImuData	(	common::Time	time,
		const Eigen::Vector3d &	linear_acceleration,
		const Eigen::Vector3d &	angular_velocity
	)

overridevirtual

Implements cartographer::mapping_3d::LocalTrajectoryBuilderInterface.

Definition at line 119 of file optimizing_local_trajectory_builder.cc.

void cartographer::mapping_3d::OptimizingLocalTrajectoryBuilder::AddOdometerData	(	common::Time	time,
		const transform::Rigid3d &	pose
	)

overridevirtual

Implements cartographer::mapping_3d::LocalTrajectoryBuilderInterface.

Definition at line 128 of file optimizing_local_trajectory_builder.cc.

std::unique_ptr< OptimizingLocalTrajectoryBuilder::InsertionResult > cartographer::mapping_3d::OptimizingLocalTrajectoryBuilder::AddRangefinderData	(	common::Time	time,
		const Eigen::Vector3f &	origin,
		const sensor::PointCloud &	ranges
	)

overridevirtual

Implements cartographer::mapping_3d::LocalTrajectoryBuilderInterface.

Definition at line 135 of file optimizing_local_trajectory_builder.cc.

std::unique_ptr< OptimizingLocalTrajectoryBuilder::InsertionResult > cartographer::mapping_3d::OptimizingLocalTrajectoryBuilder::InsertIntoSubmap	(	const common::Time	time,
		const sensor::RangeData &	range_data_in_tracking,
		const transform::Rigid3d &	pose_observation
	)

private

Definition at line 406 of file optimizing_local_trajectory_builder.cc.

std::unique_ptr< OptimizingLocalTrajectoryBuilder::InsertionResult > cartographer::mapping_3d::OptimizingLocalTrajectoryBuilder::MaybeOptimize ( common::Time time )

private

Definition at line 231 of file optimizing_local_trajectory_builder.cc.

OptimizingLocalTrajectoryBuilder& cartographer::mapping_3d::OptimizingLocalTrajectoryBuilder::operator= ( const OptimizingLocalTrajectoryBuilder & )

delete

const OptimizingLocalTrajectoryBuilder::PoseEstimate & cartographer::mapping_3d::OptimizingLocalTrajectoryBuilder::pose_estimate ( ) const

overridevirtual

Implements cartographer::mapping_3d::LocalTrajectoryBuilderInterface.

Definition at line 401 of file optimizing_local_trajectory_builder.cc.

OptimizingLocalTrajectoryBuilder::State cartographer::mapping_3d::OptimizingLocalTrajectoryBuilder::PredictState	(	const State &	start_state,
		const common::Time	start_time,
		const common::Time	end_time
	)

private

Definition at line 432 of file optimizing_local_trajectory_builder.cc.

void cartographer::mapping_3d::OptimizingLocalTrajectoryBuilder::RemoveObsoleteSensorData ( )

private

Definition at line 194 of file optimizing_local_trajectory_builder.cc.

mapping_3d::Submaps * cartographer::mapping_3d::OptimizingLocalTrajectoryBuilder::submaps ( )

overridevirtual

Implements cartographer::mapping_3d::LocalTrajectoryBuilderInterface.

Definition at line 115 of file optimizing_local_trajectory_builder.cc.

void cartographer::mapping_3d::OptimizingLocalTrajectoryBuilder::TransformStates ( const transform::Rigid3d & transform )

private

Definition at line 217 of file optimizing_local_trajectory_builder.cc.

Member Data Documentation

std::deque<Batch> cartographer::mapping_3d::OptimizingLocalTrajectoryBuilder::batches_

private

Definition at line 122 of file optimizing_local_trajectory_builder.h.

const ceres::Solver::Options cartographer::mapping_3d::OptimizingLocalTrajectoryBuilder::ceres_solver_options_

private

Definition at line 118 of file optimizing_local_trajectory_builder.h.

double cartographer::mapping_3d::OptimizingLocalTrajectoryBuilder::gravity_constant_ = 9.8

private

Definition at line 123 of file optimizing_local_trajectory_builder.h.

std::deque<ImuData> cartographer::mapping_3d::OptimizingLocalTrajectoryBuilder::imu_data_

private

Definition at line 124 of file optimizing_local_trajectory_builder.h.

PoseEstimate cartographer::mapping_3d::OptimizingLocalTrajectoryBuilder::last_pose_estimate_

private

Definition at line 127 of file optimizing_local_trajectory_builder.h.

MotionFilter cartographer::mapping_3d::OptimizingLocalTrajectoryBuilder::motion_filter_

private

Definition at line 129 of file optimizing_local_trajectory_builder.h.

int cartographer::mapping_3d::OptimizingLocalTrajectoryBuilder::num_accumulated_

private

Definition at line 120 of file optimizing_local_trajectory_builder.h.

std::deque<OdometerData> cartographer::mapping_3d::OptimizingLocalTrajectoryBuilder::odometer_data_

private

Definition at line 125 of file optimizing_local_trajectory_builder.h.

const proto::LocalTrajectoryBuilderOptions cartographer::mapping_3d::OptimizingLocalTrajectoryBuilder::options_

private

Definition at line 117 of file optimizing_local_trajectory_builder.h.

std::unique_ptr<mapping_3d::Submaps> cartographer::mapping_3d::OptimizingLocalTrajectoryBuilder::submaps_

private

Definition at line 119 of file optimizing_local_trajectory_builder.h.

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

Classes

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation