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

#include <optimizing_local_trajectory_builder.h>

Inheritance diagram for cartographer::mapping_3d::OptimizingLocalTrajectoryBuilder:
Inheritance graph
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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< InsertionResultAddRangefinderData (common::Time time, const Eigen::Vector3f &origin, const sensor::PointCloud &ranges) override
 
OptimizingLocalTrajectoryBuilderoperator= (const OptimizingLocalTrajectoryBuilder &)=delete
 
 OptimizingLocalTrajectoryBuilder (const proto::LocalTrajectoryBuilderOptions &options)
 
 OptimizingLocalTrajectoryBuilder (const OptimizingLocalTrajectoryBuilder &)=delete
 
const PoseEstimatepose_estimate () const override
 
mapping_3d::Submapssubmaps () override
 
 ~OptimizingLocalTrajectoryBuilder () 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 transform::Rigid3d &pose_observation, const sensor::RangeData &range_data_in_tracking)
 
std::unique_ptr< InsertionResultInsertIntoSubmap (const common::Time time, const sensor::RangeData &range_data_in_tracking, const transform::Rigid3d &pose_observation)
 
std::unique_ptr< InsertionResultMaybeOptimize (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< Batchbatches_
 
const ceres::Solver::Options ceres_solver_options_
 
double gravity_constant_ = 9.8
 
std::deque< ImuDataimu_data_
 
PoseEstimate last_pose_estimate_
 
MotionFilter motion_filter_
 
int num_accumulated_
 
std::deque< OdometerDataodometer_data_
 
const proto::LocalTrajectoryBuilderOptions options_
 
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 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
void cartographer::mapping_3d::OptimizingLocalTrajectoryBuilder::AddOdometerData ( common::Time  time,
const transform::Rigid3d pose 
)
overridevirtual
std::unique_ptr< OptimizingLocalTrajectoryBuilder::InsertionResult > cartographer::mapping_3d::OptimizingLocalTrajectoryBuilder::AddRangefinderData ( common::Time  time,
const Eigen::Vector3f &  origin,
const sensor::PointCloud ranges 
)
overridevirtual
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
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
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:


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