Public Member Functions | Private Attributes | List of all members
MapOptimizer Class Reference

Public Member Functions

void mapDataReceivedCallback (const rtabmap_ros::MapDataConstPtr &msg)
 
 MapOptimizer ()
 
void publishLoop (double tfDelay)
 
 ~MapOptimizer ()
 

Private Attributes

std::multimap< int, LinkcachedConstraints_
 
std::map< int, SignaturecachedNodeInfos_
 
bool globalOptimization_
 
ros::Publisher mapDataPub_
 
ros::Subscriber mapDataTopic_
 
std::string mapFrameId_
 
ros::Publisher mapGraphPub_
 
rtabmap::Transform mapToOdom_
 
boost::mutex mapToOdomMutex_
 
std::string odomFrameId_
 
bool optimizeFromLastNode_
 
Optimizeroptimizer_
 
tf2_ros::TransformBroadcaster tfBroadcaster_
 
boost::thread * transformThread_
 

Detailed Description

Definition at line 46 of file MapOptimizerNode.cpp.

Constructor & Destructor Documentation

◆ MapOptimizer()

MapOptimizer::MapOptimizer ( )
inline

Definition at line 50 of file MapOptimizerNode.cpp.

◆ ~MapOptimizer()

MapOptimizer::~MapOptimizer ( )
inline

Definition at line 110 of file MapOptimizerNode.cpp.

Member Function Documentation

◆ mapDataReceivedCallback()

void MapOptimizer::mapDataReceivedCallback ( const rtabmap_ros::MapDataConstPtr &  msg)
inline

Definition at line 139 of file MapOptimizerNode.cpp.

◆ publishLoop()

void MapOptimizer::publishLoop ( double  tfDelay)
inline

Definition at line 119 of file MapOptimizerNode.cpp.

Member Data Documentation

◆ cachedConstraints_

std::multimap<int, Link> MapOptimizer::cachedConstraints_
private

Definition at line 331 of file MapOptimizerNode.cpp.

◆ cachedNodeInfos_

std::map<int, Signature> MapOptimizer::cachedNodeInfos_
private

Definition at line 332 of file MapOptimizerNode.cpp.

◆ globalOptimization_

bool MapOptimizer::globalOptimization_
private

Definition at line 319 of file MapOptimizerNode.cpp.

◆ mapDataPub_

ros::Publisher MapOptimizer::mapDataPub_
private

Definition at line 328 of file MapOptimizerNode.cpp.

◆ mapDataTopic_

ros::Subscriber MapOptimizer::mapDataTopic_
private

Definition at line 326 of file MapOptimizerNode.cpp.

◆ mapFrameId_

std::string MapOptimizer::mapFrameId_
private

Definition at line 317 of file MapOptimizerNode.cpp.

◆ mapGraphPub_

ros::Publisher MapOptimizer::mapGraphPub_
private

Definition at line 329 of file MapOptimizerNode.cpp.

◆ mapToOdom_

rtabmap::Transform MapOptimizer::mapToOdom_
private

Definition at line 323 of file MapOptimizerNode.cpp.

◆ mapToOdomMutex_

boost::mutex MapOptimizer::mapToOdomMutex_
private

Definition at line 324 of file MapOptimizerNode.cpp.

◆ odomFrameId_

std::string MapOptimizer::odomFrameId_
private

Definition at line 318 of file MapOptimizerNode.cpp.

◆ optimizeFromLastNode_

bool MapOptimizer::optimizeFromLastNode_
private

Definition at line 320 of file MapOptimizerNode.cpp.

◆ optimizer_

Optimizer* MapOptimizer::optimizer_
private

Definition at line 321 of file MapOptimizerNode.cpp.

◆ tfBroadcaster_

tf2_ros::TransformBroadcaster MapOptimizer::tfBroadcaster_
private

Definition at line 334 of file MapOptimizerNode.cpp.

◆ transformThread_

boost::thread* MapOptimizer::transformThread_
private

Definition at line 335 of file MapOptimizerNode.cpp.


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


rtabmap_ros
Author(s): Mathieu Labbe
autogenerated on Tue Jan 24 2023 04:04:40