#include <slam_toolbox_lifelong.hpp>

Inheritance diagram for slam_toolbox::LifelongSlamToolbox:

Public Member Functions
double	computeObjectiveScore (const double &intersect_over_union, const double &area_overlap, const double &reading_overlap, const int &num_constraints, const double &initial_score, const int &num_candidates) const

	LifelongSlamToolbox (ros::NodeHandle &nh)

	~LifelongSlamToolbox ()

Public Member Functions inherited from slam_toolbox::SlamToolbox
	SlamToolbox (ros::NodeHandle &nh)

	~SlamToolbox ()

Static Public Member Functions
static double	computeAreaOverlapRatio (LocalizedRangeScan ref_scan, LocalizedRangeScan candidate_scan)

static double	computeIntersect (LocalizedRangeScan s1, LocalizedRangeScan s2)

static void	computeIntersectBounds (LocalizedRangeScan s1, LocalizedRangeScan s2, double &x_l, double &x_u, double &y_l, double &y_u)

static double	computeIntersectOverUnion (LocalizedRangeScan s1, LocalizedRangeScan s2)

static double	computeReadingOverlapRatio (LocalizedRangeScan ref_scan, LocalizedRangeScan candidate_scan)

Protected Member Functions
void	checkIsNotNormalized (const double &value)

double	computeScore (LocalizedRangeScan reference_scan, Vertex< LocalizedRangeScan > candidate, const double &initial_score, const int &num_candidates)

ScoredVertices	computeScores (Vertices &near_scans, LocalizedRangeScan *range_scan)

virtual bool	deserializePoseGraphCallback (slam_toolbox_msgs::DeserializePoseGraph::Request &req, slam_toolbox_msgs::DeserializePoseGraph::Response &resp) override final

void	evaluateNodeDepreciation (LocalizedRangeScan *range_scan)

Vertices	FindScansWithinRadius (LocalizedRangeScan *scan, const double &radius)

virtual void	laserCallback (const sensor_msgs::LaserScan::ConstPtr &scan) override final

void	removeFromSlamGraph (Vertex< LocalizedRangeScan > *vertex)

void	updateScoresSlamGraph (const double &score, Vertex< LocalizedRangeScan > *vertex)

Protected Member Functions inherited from slam_toolbox::SlamToolbox
virtual karto::LocalizedRangeScan *	addScan (karto::LaserRangeFinder *laser, const sensor_msgs::LaserScan::ConstPtr &scan, karto::Pose2 &karto_pose)

karto::LocalizedRangeScan *	addScan (karto::LaserRangeFinder *laser, PosedScan &scanWPose)

karto::LaserRangeFinder *	getLaser (const sensor_msgs::LaserScan::ConstPtr &scan)

karto::LocalizedRangeScan *	getLocalizedRangeScan (karto::LaserRangeFinder *laser, const sensor_msgs::LaserScan::ConstPtr &scan, karto::Pose2 &karto_pose)

bool	isPaused (const PausedApplication &app)

void	loadPoseGraphByParams (ros::NodeHandle &nh)

void	loadSerializedPoseGraph (std::unique_ptr< karto::Mapper > &, std::unique_ptr< karto::Dataset > &)

bool	mapCallback (nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res)

bool	pauseNewMeasurementsCallback (slam_toolbox_msgs::Pause::Request &req, slam_toolbox_msgs::Pause::Response &resp)

void	publishPose (const karto::Pose2 &pose, const karto::Matrix3 &cov, const ros::Time &t)

void	publishTransformLoop (const double &transform_publish_period)

void	publishVisualizations ()

virtual bool	resetCallback (slam_toolbox_msgs::Reset::Request &req, slam_toolbox_msgs::Reset::Response &resp)

virtual bool	serializePoseGraphCallback (slam_toolbox_msgs::SerializePoseGraph::Request &req, slam_toolbox_msgs::SerializePoseGraph::Response &resp)

void	setParams (ros::NodeHandle &nh)

void	setROSInterfaces (ros::NodeHandle &node)

void	setSolver (ros::NodeHandle &private_nh_)

tf2::Stamped< tf2::Transform >	setTransformFromPoses (const karto::Pose2 &pose, const karto::Pose2 &karto_pose, const ros::Time &t, const bool &update_reprocessing_transform)

bool	shouldProcessScan (const sensor_msgs::LaserScan::ConstPtr &scan, const karto::Pose2 &pose)

bool	shouldStartWithPoseGraph (std::string &filename, geometry_msgs::Pose2D &pose, bool &start_at_dock)

bool	updateMap ()

Protected Attributes
double	candidates_scale_

double	constraint_scale_

double	iou_match_

double	iou_thresh_

double	nearby_penalty_

double	overlap_scale_

double	removal_score_

bool	use_tree_

Protected Attributes inherited from slam_toolbox::SlamToolbox
std::string	base_frame_

std::unique_ptr< loop_closure_assistant::LoopClosureAssistant >	closure_assistant_

std::unique_ptr< karto::Dataset >	dataset_

bool	enable_interactive_mode_

bool	first_measurement_

std::unique_ptr< laser_utils::LaserAssistant >	laser_assistant_

std::map< std::string, laser_utils::LaserMetadata >	lasers_

nav_msgs::GetMap::Response	map_

std::string	map_frame_

std::string	map_name_

std::unique_ptr< map_saver::MapSaver >	map_saver_

tf2::Transform	map_to_odom_

boost::mutex	map_to_odom_mutex_

ros::Duration	minimum_time_interval_

ros::NodeHandle	nh_

std::string	odom_frame_

std::unique_ptr< pose_utils::GetPoseHelper >	pose_helper_

boost::mutex	pose_mutex_

ros::Publisher	pose_pub_

double	position_covariance_scale_

std::unique_ptr< karto::Pose2 >	process_near_pose_

ProcessType	processor_type_

tf2::Transform	reprocessing_transform_

double	resolution_

std::unique_ptr< tf2_ros::MessageFilter< sensor_msgs::LaserScan > >	scan_filter_

std::unique_ptr< message_filters::Subscriber< sensor_msgs::LaserScan > >	scan_filter_sub_

std::unique_ptr< laser_utils::ScanHolder >	scan_holder_

std::string	scan_topic_

std::unique_ptr< mapper_utils::SMapper >	smapper_

boost::mutex	smapper_mutex_

boost::shared_ptr< karto::ScanSolver >	solver_

pluginlib::ClassLoader< karto::ScanSolver >	solver_loader_

ros::ServiceServer	ssDesserialize_

ros::ServiceServer	ssMap_

ros::ServiceServer	ssPauseMeasurements_

ros::ServiceServer	ssReset_

ros::ServiceServer	ssSerialize_

ros::Publisher	sst_

ros::Publisher	sstm_

PausedState	state_

std::unique_ptr< tf2_ros::Buffer >	tf_

ros::Duration	tf_buffer_dur_

std::unique_ptr< tf2_ros::TransformBroadcaster >	tfB_

std::unique_ptr< tf2_ros::TransformListener >	tfL_

std::vector< std::unique_ptr< boost::thread > >	threads_

int	throttle_scans_

ros::Duration	transform_timeout_

double	yaw_covariance_scale_

Detailed Description

Definition at line 29 of file slam_toolbox_lifelong.hpp.

Constructor & Destructor Documentation

◆ LifelongSlamToolbox()

slam_toolbox::LifelongSlamToolbox::LifelongSlamToolbox ( ros::NodeHandle & nh )

Definition at line 36 of file slam_toolbox_lifelong.cpp.

◆ ~LifelongSlamToolbox()

slam_toolbox::LifelongSlamToolbox::~LifelongSlamToolbox ( )

inline

Definition at line 33 of file slam_toolbox_lifelong.hpp.

Member Function Documentation

◆ checkIsNotNormalized()

void slam_toolbox::LifelongSlamToolbox::checkIsNotNormalized ( const double & value )

protected

Definition at line 25 of file slam_toolbox_lifelong.cpp.

◆ computeAreaOverlapRatio()

double slam_toolbox::LifelongSlamToolbox::computeAreaOverlapRatio	(	LocalizedRangeScan *	ref_scan,
		LocalizedRangeScan *	candidate_scan
	)

static

Definition at line 400 of file slam_toolbox_lifelong.cpp.

◆ computeIntersect()

double slam_toolbox::LifelongSlamToolbox::computeIntersect	(	LocalizedRangeScan *	s1,
		LocalizedRangeScan *	s2
	)

static

Definition at line 364 of file slam_toolbox_lifelong.cpp.

◆ computeIntersectBounds()

void slam_toolbox::LifelongSlamToolbox::computeIntersectBounds	(	LocalizedRangeScan *	s1,
		LocalizedRangeScan *	s2,
		double &	x_l,
		double &	x_u,
		double &	y_l,
		double &	y_u
	)

static

Definition at line 336 of file slam_toolbox_lifelong.cpp.

◆ computeIntersectOverUnion()

double slam_toolbox::LifelongSlamToolbox::computeIntersectOverUnion	(	LocalizedRangeScan *	s1,
		LocalizedRangeScan *	s2
	)

static

Definition at line 381 of file slam_toolbox_lifelong.cpp.

◆ computeObjectiveScore()

double slam_toolbox::LifelongSlamToolbox::computeObjectiveScore	(	const double &	intersect_over_union,
		const double &	area_overlap,
		const double &	reading_overlap,
		const int &	num_constraints,
		const double &	initial_score,
		const int &	num_candidates
	)		const

Definition at line 160 of file slam_toolbox_lifelong.cpp.

◆ computeReadingOverlapRatio()

double slam_toolbox::LifelongSlamToolbox::computeReadingOverlapRatio	(	LocalizedRangeScan *	ref_scan,
		LocalizedRangeScan *	candidate_scan
	)

static

Definition at line 418 of file slam_toolbox_lifelong.cpp.

◆ computeScore()

double slam_toolbox::LifelongSlamToolbox::computeScore	(	LocalizedRangeScan *	reference_scan,
		Vertex< LocalizedRangeScan > *	candidate,
		const double &	initial_score,
		const int &	num_candidates
	)

protected

Definition at line 216 of file slam_toolbox_lifelong.cpp.

◆ computeScores()

ScoredVertices slam_toolbox::LifelongSlamToolbox::computeScores	(	Vertices &	near_scans,
		LocalizedRangeScan *	range_scan
	)

protected

Definition at line 255 of file slam_toolbox_lifelong.cpp.

◆ deserializePoseGraphCallback()

bool slam_toolbox::LifelongSlamToolbox::deserializePoseGraphCallback	(	slam_toolbox_msgs::DeserializePoseGraph::Request &	req,
		slam_toolbox_msgs::DeserializePoseGraph::Response &	resp
	)

finaloverrideprotectedvirtual

Reimplemented from slam_toolbox::SlamToolbox.

Definition at line 320 of file slam_toolbox_lifelong.cpp.

◆ evaluateNodeDepreciation()

void slam_toolbox::LifelongSlamToolbox::evaluateNodeDepreciation ( LocalizedRangeScan * range_scan )

protected

Definition at line 99 of file slam_toolbox_lifelong.cpp.

◆ FindScansWithinRadius()

Vertices slam_toolbox::LifelongSlamToolbox::FindScansWithinRadius	(	LocalizedRangeScan *	scan,
		const double &	radius
	)

protected

Definition at line 137 of file slam_toolbox_lifelong.cpp.

◆ laserCallback()

void slam_toolbox::LifelongSlamToolbox::laserCallback ( const sensor_msgs::LaserScan::ConstPtr & scan )

finaloverrideprotectedvirtual

Implements slam_toolbox::SlamToolbox.

Definition at line 68 of file slam_toolbox_lifelong.cpp.

◆ removeFromSlamGraph()

void slam_toolbox::LifelongSlamToolbox::removeFromSlamGraph ( Vertex< LocalizedRangeScan > * vertex )

protected

Definition at line 296 of file slam_toolbox_lifelong.cpp.

◆ updateScoresSlamGraph()

void slam_toolbox::LifelongSlamToolbox::updateScoresSlamGraph	(	const double &	score,
		Vertex< LocalizedRangeScan > *	vertex
	)

protected

Definition at line 311 of file slam_toolbox_lifelong.cpp.

Member Data Documentation

◆ candidates_scale_

double slam_toolbox::LifelongSlamToolbox::candidates_scale_

protected

Definition at line 63 of file slam_toolbox_lifelong.hpp.

◆ constraint_scale_

double slam_toolbox::LifelongSlamToolbox::constraint_scale_

protected

Definition at line 62 of file slam_toolbox_lifelong.hpp.

◆ iou_match_

double slam_toolbox::LifelongSlamToolbox::iou_match_

protected

Definition at line 64 of file slam_toolbox_lifelong.hpp.

◆ iou_thresh_

double slam_toolbox::LifelongSlamToolbox::iou_thresh_

protected

Definition at line 59 of file slam_toolbox_lifelong.hpp.

◆ nearby_penalty_

double slam_toolbox::LifelongSlamToolbox::nearby_penalty_

protected

Definition at line 65 of file slam_toolbox_lifelong.hpp.

◆ overlap_scale_

double slam_toolbox::LifelongSlamToolbox::overlap_scale_

protected

Definition at line 61 of file slam_toolbox_lifelong.hpp.

◆ removal_score_

double slam_toolbox::LifelongSlamToolbox::removal_score_

protected

Definition at line 60 of file slam_toolbox_lifelong.hpp.

◆ use_tree_

bool slam_toolbox::LifelongSlamToolbox::use_tree_

protected

Definition at line 58 of file slam_toolbox_lifelong.hpp.

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ LifelongSlamToolbox()

◆ ~LifelongSlamToolbox()

Member Function Documentation

◆ checkIsNotNormalized()

◆ computeAreaOverlapRatio()

◆ computeIntersect()

◆ computeIntersectBounds()

◆ computeIntersectOverUnion()

◆ computeObjectiveScore()

◆ computeReadingOverlapRatio()

◆ computeScore()

◆ computeScores()

◆ deserializePoseGraphCallback()

◆ evaluateNodeDepreciation()

◆ FindScansWithinRadius()

◆ laserCallback()

◆ removeFromSlamGraph()

◆ updateScoresSlamGraph()

Member Data Documentation

◆ candidates_scale_

◆ constraint_scale_

◆ iou_match_

◆ iou_thresh_

◆ nearby_penalty_

◆ overlap_scale_

◆ removal_score_

◆ use_tree_