cartographer::mapping::scan_matching::OccupiedSpaceCostFunction3D Class Reference

#include <occupied_space_cost_function_3d.h>

Public Member Functions
template<typename T >
bool	operator() (const T *const translation, const T *const rotation, T *const residual) const

Static Public Member Functions
static ceres::CostFunction *	CreateAutoDiffCostFunction (const double scaling_factor, const sensor::PointCloud &point_cloud, const mapping::HybridGrid &hybrid_grid)

Private Member Functions
template<typename T >
bool	Evaluate (const transform::Rigid3< T > &transform, T *const residual) const
	OccupiedSpaceCostFunction3D (const double scaling_factor, const sensor::PointCloud &point_cloud, const mapping::HybridGrid &hybrid_grid)
	OccupiedSpaceCostFunction3D (const OccupiedSpaceCostFunction3D &)=delete
OccupiedSpaceCostFunction3D &	operator= (const OccupiedSpaceCostFunction3D &)=delete

Private Attributes
const InterpolatedGrid	interpolated_grid_
const sensor::PointCloud &	point_cloud_
const double	scaling_factor_

Detailed Description

Definition at line 34 of file occupied_space_cost_function_3d.h.

Constructor & Destructor Documentation

OccupiedSpaceCostFunction3D() [1/2]

cartographer::mapping::scan_matching::OccupiedSpaceCostFunction3D::OccupiedSpaceCostFunction3D ( const double  scaling_factor, const sensor::PointCloud &  point_cloud, const mapping::HybridGrid &  hybrid_grid  )

inlineprivate

Definition at line 58 of file occupied_space_cost_function_3d.h.

OccupiedSpaceCostFunction3D() [2/2]

cartographer::mapping::scan_matching::OccupiedSpaceCostFunction3D::OccupiedSpaceCostFunction3D ( const OccupiedSpaceCostFunction3D &  )

privatedelete

Member Function Documentation

CreateAutoDiffCostFunction()

static ceres::CostFunction* cartographer::mapping::scan_matching::OccupiedSpaceCostFunction3D::CreateAutoDiffCostFunction ( const double  scaling_factor, const sensor::PointCloud &  point_cloud, const mapping::HybridGrid &  hybrid_grid  )

inlinestatic

Definition at line 36 of file occupied_space_cost_function_3d.h.

Evaluate()

template<typename T >

bool cartographer::mapping::scan_matching::OccupiedSpaceCostFunction3D::Evaluate ( const transform::Rigid3< T > &  transform, T *const  residual  ) const

inlineprivate

Definition at line 70 of file occupied_space_cost_function_3d.h.

operator()()

template<typename T >

bool cartographer::mapping::scan_matching::OccupiedSpaceCostFunction3D::operator() ( const T *const  translation, const T *const  rotation, T *const  residual  ) const

inline

Definition at line 48 of file occupied_space_cost_function_3d.h.

operator=()

OccupiedSpaceCostFunction3D& cartographer::mapping::scan_matching::OccupiedSpaceCostFunction3D::operator= ( const OccupiedSpaceCostFunction3D &  )

privatedelete

Member Data Documentation

interpolated_grid_

const InterpolatedGrid cartographer::mapping::scan_matching::OccupiedSpaceCostFunction3D::interpolated_grid_

private

Definition at line 84 of file occupied_space_cost_function_3d.h.

point_cloud_

const sensor::PointCloud& cartographer::mapping::scan_matching::OccupiedSpaceCostFunction3D::point_cloud_

private

Definition at line 83 of file occupied_space_cost_function_3d.h.

scaling_factor_

const double cartographer::mapping::scan_matching::OccupiedSpaceCostFunction3D::scaling_factor_

private

Definition at line 82 of file occupied_space_cost_function_3d.h.

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

• occupied_space_cost_function_3d.h