cartographer::mapping::optimization Namespace Reference

Classes
class	CeresPose
class	LandmarkCostFunction2D
class	LandmarkCostFunction3D
struct	NodeSpec2D
struct	NodeSpec3D
class	OptimizationProblem2D
class	OptimizationProblem3D
class	OptimizationProblemInterface
class	SpaCostFunction3D
struct	SubmapSpec2D
struct	SubmapSpec3D

Functions
template<typename T >
static std::array< T, 3 >	ComputeUnscaledError (const transform::Rigid2d &relative_pose, const T *const start, const T *const end)
template<typename T >
static std::array< T, 3 >	ComputeUnscaledError (const transform::Rigid2d &relative_pose, const T *const start, const T *const end)
template<typename T >
static std::array< T, 6 >	ComputeUnscaledError (const transform::Rigid3d &relative_pose, const T *const start_rotation, const T *const start_translation, const T *const end_rotation, const T *const end_translation)
template<typename T >
static std::array< T, 6 >	ComputeUnscaledError (const transform::Rigid3d &relative_pose, const T *const start_rotation, const T *const start_translation, const T *const end_rotation, const T *const end_translation)
ceres::CostFunction *	CreateAnalyticalSpaCostFunction (const PoseGraphInterface::Constraint::Pose &observed_relative_pose)
ceres::CostFunction *	CreateAutoDiffSpaCostFunction (const PoseGraphInterface::Constraint::Pose &observed_relative_pose)
proto::OptimizationProblemOptions	CreateOptimizationProblemOptions (common::LuaParameterDictionary *const parameter_dictionary)
CeresPose::Data	FromPose (const transform::Rigid3d &pose)
template<typename T >
std::tuple< std::array< T, 4 >, std::array< T, 3 > >	InterpolateNodes2D (const T *const prev_node_pose, const Eigen::Quaterniond &prev_node_gravity_alignment, const T *const next_node_pose, const Eigen::Quaterniond &next_node_gravity_alignment, const double interpolation_parameter)
template<typename T >
std::tuple< std::array< T, 4 >, std::array< T, 3 > >	InterpolateNodes3D (const T *const prev_node_rotation, const T *const prev_node_translation, const T *const next_node_rotation, const T *const next_node_translation, const double interpolation_parameter)
template<typename T >
std::array< T, 3 >	ScaleError (const std::array< T, 3 > &error, double translation_weight, double rotation_weight)
template<typename T >
std::array< T, 6 >	ScaleError (const std::array< T, 6 > &error, double translation_weight, double rotation_weight)
template<typename T >
std::array< T, 4 >	SlerpQuaternions (const T *const start, const T *const end, double factor)

Function Documentation

ComputeUnscaledError() [1/4]

template<typename T >

static std::array<T, 3> cartographer::mapping::optimization::ComputeUnscaledError ( const transform::Rigid2d &  relative_pose, const T *const  start, const T *const  end  )

static

Definition at line 29 of file cost_helpers_impl.h.

ComputeUnscaledError() [2/4]

template<typename T >

static std::array<T, 3> cartographer::mapping::optimization::ComputeUnscaledError ( const transform::Rigid2d &  relative_pose, const T *const  start, const T *const  end  )

static

ComputeUnscaledError() [3/4]

template<typename T >

static std::array<T, 6> cartographer::mapping::optimization::ComputeUnscaledError ( const transform::Rigid3d &  relative_pose, const T *const  start_rotation, const T *const  start_translation, const T *const  end_rotation, const T *const  end_translation  )

static

ComputeUnscaledError() [4/4]

template<typename T >

static std::array<T, 6> cartographer::mapping::optimization::ComputeUnscaledError ( const transform::Rigid3d &  relative_pose, const T *const  start_rotation, const T *const  start_translation, const T *const  end_rotation, const T *const  end_translation  )

static

Definition at line 58 of file cost_helpers_impl.h.

CreateAnalyticalSpaCostFunction()

ceres::CostFunction * cartographer::mapping::optimization::CreateAnalyticalSpaCostFunction

(

const PoseGraphInterface::Constraint::Pose &

observed_relative_pose

)

Definition at line 143 of file spa_cost_function_2d.cc.

CreateAutoDiffSpaCostFunction()

ceres::CostFunction * cartographer::mapping::optimization::CreateAutoDiffSpaCostFunction

(

const PoseGraphInterface::Constraint::Pose &

observed_relative_pose

)

Definition at line 135 of file spa_cost_function_2d.cc.

CreateOptimizationProblemOptions()

proto::OptimizationProblemOptions cartographer::mapping::optimization::CreateOptimizationProblemOptions

(

common::LuaParameterDictionary *const

parameter_dictionary

)

Definition at line 25 of file optimization_problem_options.cc.

FromPose()

CeresPose::Data cartographer::mapping::optimization::FromPose

(

const transform::Rigid3d &

pose

)

Definition at line 23 of file ceres_pose.cc.

InterpolateNodes2D()

template<typename T >

std::tuple< std::array< T, 4 >, std::array< T, 3 > > cartographer::mapping::optimization::InterpolateNodes2D	(	const T *const	prev_node_pose,
		const Eigen::Quaterniond &	prev_node_gravity_alignment,
		const T *const	next_node_pose,
		const Eigen::Quaterniond &	next_node_gravity_alignment,
		const double	interpolation_parameter
	)

Definition at line 157 of file cost_helpers_impl.h.

InterpolateNodes3D()

template<typename T >

std::tuple< std::array< T, 4 >, std::array< T, 3 > > cartographer::mapping::optimization::InterpolateNodes3D	(	const T *const	prev_node_rotation,
		const T *const	prev_node_translation,
		const T *const	next_node_rotation,
		const T *const	next_node_translation,
		const double	interpolation_parameter
	)

Definition at line 135 of file cost_helpers_impl.h.

ScaleError() [1/2]

template<typename T >

std::array< T, 3 > cartographer::mapping::optimization::ScaleError	(	const std::array< T, 3 > &	error,
		double	translation_weight,
		double	rotation_weight
	)

Definition at line 46 of file cost_helpers_impl.h.

ScaleError() [2/2]

template<typename T >

std::array< T, 6 > cartographer::mapping::optimization::ScaleError	(	const std::array< T, 6 > &	error,
		double	translation_weight,
		double	rotation_weight
	)

Definition at line 89 of file cost_helpers_impl.h.

SlerpQuaternions()

template<typename T >

std::array< T, 4 > cartographer::mapping::optimization::SlerpQuaternions	(	const T *const	start,
		const T *const	end,
		double	factor
	)

Definition at line 106 of file cost_helpers_impl.h.