#include <pose_extrapolator.h>

Classes
struct	TimedPose
Public Member Functions
void	AddImuData (const sensor::ImuData &imu_data)
void	AddOdometryData (const sensor::OdometryData &odometry_data)
void	AddPose (common::Time time, const transform::Rigid3d &pose)
Eigen::Quaterniond	EstimateGravityOrientation (common::Time time)
transform::Rigid3d	ExtrapolatePose (common::Time time)
common::Time	GetLastExtrapolatedTime () const
common::Time	GetLastPoseTime () const
PoseExtrapolator &	operator= (const PoseExtrapolator &)
	PoseExtrapolator (common::Duration pose_queue_duration, double imu_gravity_time_constant)
	PoseExtrapolator (const PoseExtrapolator &)
Static Public Member Functions
static std::unique_ptr < PoseExtrapolator >	InitializeWithImu (common::Duration pose_queue_duration, double imu_gravity_time_constant, const sensor::ImuData &imu_data)
Private Member Functions
void	AdvanceImuTracker (common::Time time, ImuTracker *imu_tracker) const
Eigen::Quaterniond	ExtrapolateRotation (common::Time time, ImuTracker *imu_tracker) const
Eigen::Vector3d	ExtrapolateTranslation (common::Time time)
void	TrimImuData ()
void	TrimOdometryData ()
void	UpdateVelocitiesFromPoses ()
Private Attributes
Eigen::Vector3d	angular_velocity_from_odometry_ = Eigen::Vector3d::Zero()
Eigen::Vector3d	angular_velocity_from_poses_ = Eigen::Vector3d::Zero()
TimedPose	cached_extrapolated_pose_
std::unique_ptr< ImuTracker >	extrapolation_imu_tracker_
const double	gravity_time_constant_
std::deque< sensor::ImuData >	imu_data_
std::unique_ptr< ImuTracker >	imu_tracker_
Eigen::Vector3d	linear_velocity_from_odometry_ = Eigen::Vector3d::Zero()
Eigen::Vector3d	linear_velocity_from_poses_ = Eigen::Vector3d::Zero()
std::deque< sensor::OdometryData >	odometry_data_
std::unique_ptr< ImuTracker >	odometry_imu_tracker_
const common::Duration	pose_queue_duration_
std::deque< TimedPose >	timed_pose_queue_

Detailed Description

Definition at line 35 of file pose_extrapolator.h.

Constructor & Destructor Documentation

cartographer::mapping::PoseExtrapolator::PoseExtrapolator	(	common::Duration	pose_queue_duration,
		double	imu_gravity_time_constant
	)		`[explicit]`

Definition at line 28 of file pose_extrapolator.cc.

cartographer::mapping::PoseExtrapolator::PoseExtrapolator ( const PoseExtrapolator & )

Member Function Documentation

void cartographer::mapping::PoseExtrapolator::AddImuData ( const sensor::ImuData & imu_data )

void cartographer::mapping::PoseExtrapolator::AddOdometryData ( const sensor::OdometryData & odometry_data )

void cartographer::mapping::PoseExtrapolator::AddPose	(	common::Time	time,
		const transform::Rigid3d &	pose
	)

void cartographer::mapping::PoseExtrapolator::AdvanceImuTracker	(	common::Time	time,
		ImuTracker *	imu_tracker
	)		const `[private]`

Eigen::Quaterniond cartographer::mapping::PoseExtrapolator::EstimateGravityOrientation ( common::Time time )

transform::Rigid3d cartographer::mapping::PoseExtrapolator::ExtrapolatePose ( common::Time time )

Eigen::Quaterniond cartographer::mapping::PoseExtrapolator::ExtrapolateRotation	(	common::Time	time,
		ImuTracker *	imu_tracker
	)		const `[private]`

Eigen::Vector3d cartographer::mapping::PoseExtrapolator::ExtrapolateTranslation ( common::Time time ) [private]

common::Time cartographer::mapping::PoseExtrapolator::GetLastExtrapolatedTime ( ) const

common::Time cartographer::mapping::PoseExtrapolator::GetLastPoseTime ( ) const

static std::unique_ptr<PoseExtrapolator> cartographer::mapping::PoseExtrapolator::InitializeWithImu	(	common::Duration	pose_queue_duration,
		double	imu_gravity_time_constant,
		const sensor::ImuData &	imu_data
	)		`[static]`