Wrapper for G2O to interface with Open Karto. More...
#include <GTSAM_solver.hpp>
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... | |
| virtual const karto::ScanSolver::IdPoseVector & | GetCorrections () const |
| Get the vector of corrections. More... | |
| virtual void | getGraph (std::vector< Eigen::Vector2d > &nodes) |
| Get the pose-graph. More... | |
| GTSAMSolver () | |
| virtual void | ModifyNode (const int &unique_id, const Eigen::Vector3d &pose) |
| virtual | ~GTSAMSolver () |
 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_ |
| gtsam::NonlinearFactorGraph | graph_ |
| std::vector< Eigen::Vector2d > | graphNodes_ |
| gtsam::Values | initialGuess_ |
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 32 of file GTSAM_solver.hpp.
Constructor & Destructor Documentation
◆ GTSAMSolver()
| solver_plugins::GTSAMSolver::GTSAMSolver | ( | ) |
Definition at line 28 of file GTSAM_solver.cpp.
◆ ~GTSAMSolver()
|
virtual |
Definition at line 42 of file GTSAM_solver.cpp.
Member Function Documentation
◆ AddConstraint()
|
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 120 of file GTSAM_solver.cpp.
◆ AddNode()
|
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 103 of file GTSAM_solver.cpp.
◆ Clear()
|
virtual |
Clear the vector of corrections.
Empty out previously computed corrections
Reimplemented from karto::ScanSolver.
Definition at line 49 of file GTSAM_solver.cpp.
◆ Compute()
|
virtual |
Solve the SLAM back-end.
Calls G2O to solve the SLAM back-end
Implements karto::ScanSolver.
Definition at line 63 of file GTSAM_solver.cpp.
◆ GetCorrections()
|
virtual |
Get the vector of corrections.
Get the vector of corrections
- Returns
- Vector with corrected poses
Implements karto::ScanSolver.
Definition at line 56 of file GTSAM_solver.cpp.
◆ getGraph()
|
virtual |
Get the pose-graph.
Get the underlying graph from g2o, return the graph of constraints
- Parameters
-
g the graph
Definition at line 165 of file GTSAM_solver.cpp.
◆ ModifyNode()
|
virtual |
Member Data Documentation
◆ corrections_
|
private |
Definition at line 94 of file GTSAM_solver.hpp.
◆ graph_
|
private |
Definition at line 95 of file GTSAM_solver.hpp.
◆ graphNodes_
|
private |
Definition at line 97 of file GTSAM_solver.hpp.
◆ initialGuess_
|
private |
Definition at line 96 of file GTSAM_solver.hpp.
The documentation for this class was generated from the following files: