solver_plugins::G2OSolver Class Reference

Wrapper for G2O to interface with Open Karto. More...

#include <g2o_solver.hpp>

Inheritance diagram for solver_plugins::G2OSolver:

Public Member Functions
virtual void	AddConstraint (karto::Edge< karto::LocalizedRangeScan > *pEdge)
	Add an edge constraint to pose-graph. More...
virtual void	AddNode (karto::Vertex< karto::LocalizedRangeScan > *pVertex)
	Add a node to pose-graph. More...
virtual void	Clear ()
	Clear the vector of corrections. More...
virtual void	Compute ()
	Solve the SLAM back-end. More...
	G2OSolver ()
virtual const karto::ScanSolver::IdPoseVector &	GetCorrections () const
	Get the vector of corrections. More...
void	getGraph (std::vector< Eigen::Vector2d > &nodes)
	Get the pose-graph. More...
virtual void	ModifyNode (const int &unique_id, const Eigen::Vector3d &pose)
void	useRobustKernel (bool flag)
	Use robust kernel in back-end. More...
virtual	~G2OSolver ()
Public Member Functions inherited from karto::ScanSolver
virtual std::unordered_map< int, Eigen::Vector3d > *	getGraph ()
virtual void	GetNodeOrientation (const int &unique_id, double &pose)
virtual void	ModifyNode (const int &unique_id, Eigen::Vector3d pose)
virtual void	RemoveConstraint (kt_int32s, kt_int32s)
virtual void	RemoveNode (kt_int32s)
virtual void	Reset ()
	ScanSolver ()
template<class Archive >
void	serialize (Archive &ar, const unsigned int version)
virtual	~ScanSolver ()

Private Attributes
karto::ScanSolver::IdPoseVector	corrections_
int	latestNodeID_
g2o::SparseOptimizer	optimizer_
bool	useRobustKernel_

Additional Inherited Members
Public Types inherited from karto::ScanSolver
typedef std::vector< std::pair< kt_int32s, Pose2 > >	IdPoseVector

Detailed Description

Wrapper for G2O to interface with Open Karto.

Definition at line 26 of file g2o_solver.hpp.

Constructor & Destructor Documentation

G2OSolver()

solver_plugins::G2OSolver::G2OSolver

(

)

Definition at line 39 of file g2o_solver.cpp.

~G2OSolver()

solver_plugins::G2OSolver::~G2OSolver ( )

virtual

Definition at line 55 of file g2o_solver.cpp.

Member Function Documentation

AddConstraint()

void solver_plugins::G2OSolver::AddConstraint ( karto::Edge< karto::LocalizedRangeScan > *  pEdge )

virtual

Add an edge constraint to pose-graph.

Adds a relative pose measurement constraint between two poses in the graph

Parameters

pEdge

[description]

Reimplemented from karto::ScanSolver.

Definition at line 141 of file g2o_solver.cpp.

AddNode()

void solver_plugins::G2OSolver::AddNode ( karto::Vertex< karto::LocalizedRangeScan > *  pVertex )

virtual

Add a node to pose-graph.

Add a node which is a robot pose to the pose-graph

Parameters

pVertex

the node to be added in

Reimplemented from karto::ScanSolver.

Definition at line 125 of file g2o_solver.cpp.

Clear()

void solver_plugins::G2OSolver::Clear ( )

virtual

Clear the vector of corrections.

Empty out previously computed corrections

Reimplemented from karto::ScanSolver.

Definition at line 65 of file g2o_solver.cpp.

Compute()

void solver_plugins::G2OSolver::Compute ( )

virtual

Solve the SLAM back-end.

Calls G2O to solve the SLAM back-end

Implements karto::ScanSolver.

Definition at line 77 of file g2o_solver.cpp.

GetCorrections()

const karto::ScanSolver::IdPoseVector & solver_plugins::G2OSolver::GetCorrections ( ) const

virtual

Get the vector of corrections.

Get the vector of corrections

Returns

Vector with corrected poses

Implements karto::ScanSolver.

Definition at line 71 of file g2o_solver.cpp.

getGraph()

void solver_plugins::G2OSolver::getGraph

(

std::vector< Eigen::Vector2d > &

nodes

)

Get the pose-graph.

Get the underlying graph from g2o, return the graph of constraints

Parameters

g

the graph

Definition at line 198 of file g2o_solver.cpp.

ModifyNode()

virtual void solver_plugins::G2OSolver::ModifyNode ( const int &  unique_id, const Eigen::Vector3d &  pose  )

virtual

useRobustKernel()

void solver_plugins::G2OSolver::useRobustKernel ( bool  flag )

inline

Use robust kernel in back-end.

Uses Dynamic Covariance scaling kernel in back-end

Parameters

flag	variable, if true robust kernel will be used

Definition at line 90 of file g2o_solver.hpp.

Member Data Documentation

corrections_

karto::ScanSolver::IdPoseVector solver_plugins::G2OSolver::corrections_

private

Definition at line 99 of file g2o_solver.hpp.

latestNodeID_

int solver_plugins::G2OSolver::latestNodeID_

private

Definition at line 103 of file g2o_solver.hpp.

optimizer_

g2o::SparseOptimizer solver_plugins::G2OSolver::optimizer_

private

Definition at line 101 of file g2o_solver.hpp.

useRobustKernel_

bool solver_plugins::G2OSolver::useRobustKernel_

private

Definition at line 105 of file g2o_solver.hpp.

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

• g2o_solver.hpp
• g2o_solver.cpp