#include <map_builder.h>

Inheritance diagram for cartographer::mapping::MapBuilder:

Public Member Functions
int	AddTrajectoryBuilder (const std::set< SensorId > &expected_sensor_ids, const proto::TrajectoryBuilderOptions &trajectory_options, LocalSlamResultCallback local_slam_result_callback) override
int	AddTrajectoryForDeserialization (const proto::TrajectoryBuilderOptionsWithSensorIds &options_with_sensor_ids_proto) override
void	FinishTrajectory (int trajectory_id) override
const std::vector < proto::TrajectoryBuilderOptionsWithSensorIds > &	GetAllTrajectoryBuilderOptions () const override
mapping::TrajectoryBuilderInterface *	GetTrajectoryBuilder (int trajectory_id) const override
std::map< int, int >	LoadState (io::ProtoStreamReaderInterface *reader, bool load_frozen_state) override
std::map< int, int >	LoadStateFromFile (const std::string &filename, const bool load_frozen_state) override
	MapBuilder (const proto::MapBuilderOptions &options)
	MapBuilder (const MapBuilder &)
int	num_trajectory_builders () const override
MapBuilder &	operator= (const MapBuilder &)
mapping::PoseGraphInterface *	pose_graph () override
void	SerializeState (bool include_unfinished_submaps, io::ProtoStreamWriterInterface *writer) override
bool	SerializeStateToFile (bool include_unfinished_submaps, const std::string &filename) override
std::string	SubmapToProto (const SubmapId &submap_id, proto::SubmapQuery::Response *response) override
	~MapBuilder () override
Private Attributes
std::vector < proto::TrajectoryBuilderOptionsWithSensorIds >	all_trajectory_builder_options_
const proto::MapBuilderOptions	options_
std::unique_ptr< PoseGraph >	pose_graph_
std::unique_ptr < sensor::CollatorInterface >	sensor_collator_
common::ThreadPool	thread_pool_
std::vector< std::unique_ptr < mapping::TrajectoryBuilderInterface > >	trajectory_builders_

Detailed Description

Definition at line 36 of file map_builder.h.

Constructor & Destructor Documentation

cartographer::mapping::MapBuilder::MapBuilder ( const proto::MapBuilderOptions & options ) [explicit]

Definition at line 94 of file map_builder.cc.

cartographer::mapping::MapBuilder::~MapBuilder ( ) [inline, override]

Definition at line 39 of file map_builder.h.

cartographer::mapping::MapBuilder::MapBuilder ( const MapBuilder & )

Member Function Documentation

int cartographer::mapping::MapBuilder::AddTrajectoryBuilder	(	const std::set< SensorId > &	expected_sensor_ids,
		const proto::TrajectoryBuilderOptions &	trajectory_options,
		LocalSlamResultCallback	local_slam_result_callback
	)		`[override, virtual]`

Implements cartographer::mapping::MapBuilderInterface.

Definition at line 119 of file map_builder.cc.

int cartographer::mapping::MapBuilder::AddTrajectoryForDeserialization ( const proto::TrajectoryBuilderOptionsWithSensorIds & options_with_sensor_ids_proto ) [override, virtual]

Implements cartographer::mapping::MapBuilderInterface.

Definition at line 177 of file map_builder.cc.

void cartographer::mapping::MapBuilder::FinishTrajectory ( int trajectory_id ) [override, virtual]

Implements cartographer::mapping::MapBuilderInterface.

Definition at line 187 of file map_builder.cc.

const std::vector<proto::TrajectoryBuilderOptionsWithSensorIds>& cartographer::mapping::MapBuilder::GetAllTrajectoryBuilderOptions ( ) const [inline, override, virtual]

Implements cartographer::mapping::MapBuilderInterface.

Definition at line 84 of file map_builder.h.

mapping::TrajectoryBuilderInterface* cartographer::mapping::MapBuilder::GetTrajectoryBuilder ( int trajectory_id ) const [inline, override, virtual]

Implements cartographer::mapping::MapBuilderInterface.

Definition at line 78 of file map_builder.h.

std::map< int, int > cartographer::mapping::MapBuilder::LoadState	(	io::ProtoStreamReaderInterface *	reader,
		bool	load_frozen_state
	)		`[override, virtual]`

Implements cartographer::mapping::MapBuilderInterface.

Definition at line 225 of file map_builder.cc.

std::map< int, int > cartographer::mapping::MapBuilder::LoadStateFromFile	(	const std::string &	filename,
		const bool	load_frozen_state
	)		`[override, virtual]`

Implements cartographer::mapping::MapBuilderInterface.

Definition at line 404 of file map_builder.cc.

int cartographer::mapping::MapBuilder::num_trajectory_builders ( ) const [inline, override, virtual]

Implements cartographer::mapping::MapBuilderInterface.

Definition at line 74 of file map_builder.h.

MapBuilder& cartographer::mapping::MapBuilder::operator= ( const MapBuilder & )

mapping::PoseGraphInterface* cartographer::mapping::MapBuilder::pose_graph ( ) [inline, override, virtual]

Implements cartographer::mapping::MapBuilderInterface.

Definition at line 70 of file map_builder.h.

void cartographer::mapping::MapBuilder::SerializeState	(	bool	include_unfinished_submaps,
		io::ProtoStreamWriterInterface *	writer
	)		`[override, virtual]`

Implements cartographer::mapping::MapBuilderInterface.

Definition at line 211 of file map_builder.cc.

bool cartographer::mapping::MapBuilder::SerializeStateToFile	(	bool	include_unfinished_submaps,
		const std::string &	filename
	)		`[override, virtual]`

Implements cartographer::mapping::MapBuilderInterface.

Definition at line 217 of file map_builder.cc.

std::string cartographer::mapping::MapBuilder::SubmapToProto	(	const SubmapId &	submap_id,
		proto::SubmapQuery::Response *	response
	)		`[override, virtual]`