#include <local_trajectory_builder_2d.h>
Classes | |
struct | InsertionResult |
struct | MatchingResult |
Public Member Functions | |
void | AddImuData (const sensor::ImuData &imu_data) |
void | AddOdometryData (const sensor::OdometryData &odometry_data) |
std::unique_ptr< MatchingResult > | AddRangeData (const std::string &sensor_id, const sensor::TimedPointCloudData &range_data) |
LocalTrajectoryBuilder2D (const proto::LocalTrajectoryBuilderOptions2D &options, const std::vector< std::string > &expected_range_sensor_ids) | |
LocalTrajectoryBuilder2D (const LocalTrajectoryBuilder2D &) | |
LocalTrajectoryBuilder2D & | operator= (const LocalTrajectoryBuilder2D &) |
~LocalTrajectoryBuilder2D () | |
Static Public Member Functions | |
static void | RegisterMetrics (metrics::FamilyFactory *family_factory) |
Private Member Functions | |
std::unique_ptr< MatchingResult > | AddAccumulatedRangeData (common::Time time, const sensor::RangeData &gravity_aligned_range_data, const transform::Rigid3d &gravity_alignment, const absl::optional< common::Duration > &sensor_duration) |
void | InitializeExtrapolator (common::Time time) |
std::unique_ptr< InsertionResult > | InsertIntoSubmap (common::Time time, const sensor::RangeData &range_data_in_local, const sensor::PointCloud &filtered_gravity_aligned_point_cloud, const transform::Rigid3d &pose_estimate, const Eigen::Quaterniond &gravity_alignment) |
std::unique_ptr < transform::Rigid2d > | ScanMatch (common::Time time, const transform::Rigid2d &pose_prediction, const sensor::PointCloud &filtered_gravity_aligned_point_cloud) |
sensor::RangeData | TransformToGravityAlignedFrameAndFilter (const transform::Rigid3f &transform_to_gravity_aligned_frame, const sensor::RangeData &range_data) const |
Private Attributes | |
sensor::RangeData | accumulated_range_data_ |
ActiveSubmaps2D | active_submaps_ |
scan_matching::CeresScanMatcher2D | ceres_scan_matcher_ |
std::unique_ptr< PoseExtrapolator > | extrapolator_ |
absl::optional< common::Time > | last_sensor_time_ |
absl::optional< double > | last_thread_cpu_time_seconds_ |
absl::optional < std::chrono::steady_clock::time_point > | last_wall_time_ |
MotionFilter | motion_filter_ |
int | num_accumulated_ = 0 |
const proto::LocalTrajectoryBuilderOptions2D | options_ |
RangeDataCollator | range_data_collator_ |
scan_matching::RealTimeCorrelativeScanMatcher2D | real_time_correlative_scan_matcher_ |
Definition at line 44 of file local_trajectory_builder_2d.h.
cartographer::mapping::LocalTrajectoryBuilder2D::LocalTrajectoryBuilder2D | ( | const proto::LocalTrajectoryBuilderOptions2D & | options, |
const std::vector< std::string > & | expected_range_sensor_ids | ||
) | [explicit] |
Definition at line 38 of file local_trajectory_builder_2d.cc.
Definition at line 49 of file local_trajectory_builder_2d.cc.
cartographer::mapping::LocalTrajectoryBuilder2D::LocalTrajectoryBuilder2D | ( | const LocalTrajectoryBuilder2D & | ) |
std::unique_ptr< LocalTrajectoryBuilder2D::MatchingResult > cartographer::mapping::LocalTrajectoryBuilder2D::AddAccumulatedRangeData | ( | common::Time | time, |
const sensor::RangeData & | gravity_aligned_range_data, | ||
const transform::Rigid3d & | gravity_alignment, | ||
const absl::optional< common::Duration > & | sensor_duration | ||
) | [private] |
Definition at line 212 of file local_trajectory_builder_2d.cc.
void cartographer::mapping::LocalTrajectoryBuilder2D::AddImuData | ( | const sensor::ImuData & | imu_data | ) |
Definition at line 302 of file local_trajectory_builder_2d.cc.
void cartographer::mapping::LocalTrajectoryBuilder2D::AddOdometryData | ( | const sensor::OdometryData & | odometry_data | ) |
Definition at line 308 of file local_trajectory_builder_2d.cc.
std::unique_ptr< LocalTrajectoryBuilder2D::MatchingResult > cartographer::mapping::LocalTrajectoryBuilder2D::AddRangeData | ( | const std::string & | sensor_id, |
const sensor::TimedPointCloudData & | range_data | ||
) |
Definition at line 105 of file local_trajectory_builder_2d.cc.
void cartographer::mapping::LocalTrajectoryBuilder2D::InitializeExtrapolator | ( | common::Time | time | ) | [private] |
Definition at line 318 of file local_trajectory_builder_2d.cc.
std::unique_ptr< LocalTrajectoryBuilder2D::InsertionResult > cartographer::mapping::LocalTrajectoryBuilder2D::InsertIntoSubmap | ( | common::Time | time, |
const sensor::RangeData & | range_data_in_local, | ||
const sensor::PointCloud & | filtered_gravity_aligned_point_cloud, | ||
const transform::Rigid3d & | pose_estimate, | ||
const Eigen::Quaterniond & | gravity_alignment | ||
) | [private] |
Definition at line 280 of file local_trajectory_builder_2d.cc.
LocalTrajectoryBuilder2D& cartographer::mapping::LocalTrajectoryBuilder2D::operator= | ( | const LocalTrajectoryBuilder2D & | ) |
void cartographer::mapping::LocalTrajectoryBuilder2D::RegisterMetrics | ( | metrics::FamilyFactory * | family_factory | ) | [static] |
Definition at line 333 of file local_trajectory_builder_2d.cc.
std::unique_ptr< transform::Rigid2d > cartographer::mapping::LocalTrajectoryBuilder2D::ScanMatch | ( | common::Time | time, |
const transform::Rigid2d & | pose_prediction, | ||
const sensor::PointCloud & | filtered_gravity_aligned_point_cloud | ||
) | [private] |
Definition at line 65 of file local_trajectory_builder_2d.cc.
sensor::RangeData cartographer::mapping::LocalTrajectoryBuilder2D::TransformToGravityAlignedFrameAndFilter | ( | const transform::Rigid3f & | transform_to_gravity_aligned_frame, |
const sensor::RangeData & | range_data | ||
) | const [private] |
Definition at line 52 of file local_trajectory_builder_2d.cc.
sensor::RangeData cartographer::mapping::LocalTrajectoryBuilder2D::accumulated_range_data_ [private] |
Definition at line 113 of file local_trajectory_builder_2d.h.
Definition at line 103 of file local_trajectory_builder_2d.h.
scan_matching::CeresScanMatcher2D cartographer::mapping::LocalTrajectoryBuilder2D::ceres_scan_matcher_ [private] |
Definition at line 108 of file local_trajectory_builder_2d.h.
std::unique_ptr<PoseExtrapolator> cartographer::mapping::LocalTrajectoryBuilder2D::extrapolator_ [private] |
Definition at line 110 of file local_trajectory_builder_2d.h.
absl::optional<common::Time> cartographer::mapping::LocalTrajectoryBuilder2D::last_sensor_time_ [private] |
Definition at line 117 of file local_trajectory_builder_2d.h.
absl::optional<double> cartographer::mapping::LocalTrajectoryBuilder2D::last_thread_cpu_time_seconds_ [private] |
Definition at line 116 of file local_trajectory_builder_2d.h.
absl::optional<std::chrono::steady_clock::time_point> cartographer::mapping::LocalTrajectoryBuilder2D::last_wall_time_ [private] |
Definition at line 115 of file local_trajectory_builder_2d.h.
Definition at line 105 of file local_trajectory_builder_2d.h.
int cartographer::mapping::LocalTrajectoryBuilder2D::num_accumulated_ = 0 [private] |
Definition at line 112 of file local_trajectory_builder_2d.h.
const proto::LocalTrajectoryBuilderOptions2D cartographer::mapping::LocalTrajectoryBuilder2D::options_ [private] |
Definition at line 102 of file local_trajectory_builder_2d.h.
Definition at line 119 of file local_trajectory_builder_2d.h.
scan_matching::RealTimeCorrelativeScanMatcher2D cartographer::mapping::LocalTrajectoryBuilder2D::real_time_correlative_scan_matcher_ [private] |
Definition at line 107 of file local_trajectory_builder_2d.h.