cartographer::mapping::PoseGraphInterface Class Reference

#include <pose_graph_interface.h>

Inheritance diagram for cartographer::mapping::PoseGraphInterface:

List of all members.

Classes
struct	Constraint
struct	LandmarkNode
struct	SubmapData
struct	SubmapPose
struct	TrajectoryData
Public Types
enum	TrajectoryState { ACTIVE, FINISHED, FROZEN, DELETED }
Public Member Functions
virtual std::vector< Constraint >	constraints () const =0
virtual void	DeleteTrajectory (int trajectory_id)=0
virtual MapById< SubmapId, SubmapData >	GetAllSubmapData () const =0
virtual MapById< SubmapId, SubmapPose >	GetAllSubmapPoses () const =0
virtual std::map< std::string, transform::Rigid3d >	GetLandmarkPoses () const =0
virtual transform::Rigid3d	GetLocalToGlobalTransform (int trajectory_id) const =0
virtual std::map< int, TrajectoryData >	GetTrajectoryData () const =0
virtual MapById< NodeId, TrajectoryNodePose >	GetTrajectoryNodePoses () const =0
virtual MapById< NodeId, TrajectoryNode >	GetTrajectoryNodes () const =0
virtual std::map< int, TrajectoryState >	GetTrajectoryStates () const =0
virtual bool	IsTrajectoryFinished (int trajectory_id) const =0
virtual bool	IsTrajectoryFrozen (int trajectory_id) const =0
PoseGraphInterface &	operator= (const PoseGraphInterface &)
	PoseGraphInterface ()
	PoseGraphInterface (const PoseGraphInterface &)
virtual void	RunFinalOptimization ()=0
virtual void	SetGlobalSlamOptimizationCallback (GlobalSlamOptimizationCallback callback)=0
virtual void	SetLandmarkPose (const std::string &landmark_id, const transform::Rigid3d &global_pose, const bool frozen=false)=0
virtual proto::PoseGraph	ToProto (bool include_unfinished_submaps) const =0
virtual	~PoseGraphInterface ()

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Detailed Description

Definition at line 31 of file pose_graph_interface.h.

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Member Enumeration Documentation

enum cartographer::mapping::PoseGraphInterface::TrajectoryState

Enumerator:

ACTIVE
FINISHED
FROZEN
DELETED

Definition at line 84 of file pose_graph_interface.h.

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Constructor & Destructor Documentation

cartographer::mapping::PoseGraphInterface::PoseGraphInterface

(

)

[inline]

Definition at line 90 of file pose_graph_interface.h.

virtual cartographer::mapping::PoseGraphInterface::~PoseGraphInterface

(

)

[inline, virtual]

Definition at line 91 of file pose_graph_interface.h.

cartographer::mapping::PoseGraphInterface::PoseGraphInterface

(

const PoseGraphInterface &

)

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Member Function Documentation

virtual std::vector<Constraint> cartographer::mapping::PoseGraphInterface::constraints

(

)

const [pure virtual]

Implemented in cartographer::mapping::PoseGraph2D, cartographer::mapping::PoseGraph3D, and cartographer::cloud::PoseGraphStub.

virtual void cartographer::mapping::PoseGraphInterface::DeleteTrajectory

(

int

trajectory_id

)

[pure virtual]

Implemented in cartographer::mapping::PoseGraph2D, cartographer::mapping::PoseGraph3D, and cartographer::cloud::PoseGraphStub.

virtual MapById<SubmapId, SubmapData> cartographer::mapping::PoseGraphInterface::GetAllSubmapData

(

)

const [pure virtual]

Implemented in cartographer::mapping::PoseGraph2D, cartographer::mapping::PoseGraph3D, and cartographer::cloud::PoseGraphStub.

virtual MapById<SubmapId, SubmapPose> cartographer::mapping::PoseGraphInterface::GetAllSubmapPoses

(

)

const [pure virtual]

Implemented in cartographer::mapping::PoseGraph2D, cartographer::mapping::PoseGraph3D, and cartographer::cloud::PoseGraphStub.

virtual std::map<std::string, transform::Rigid3d> cartographer::mapping::PoseGraphInterface::GetLandmarkPoses

(

)

const [pure virtual]

Implemented in cartographer::mapping::PoseGraph2D, cartographer::mapping::PoseGraph3D, and cartographer::cloud::PoseGraphStub.

virtual transform::Rigid3d cartographer::mapping::PoseGraphInterface::GetLocalToGlobalTransform

(

int

trajectory_id

)

const [pure virtual]

Implemented in cartographer::mapping::PoseGraph2D, cartographer::mapping::PoseGraph3D, and cartographer::cloud::PoseGraphStub.

virtual std::map<int, TrajectoryData> cartographer::mapping::PoseGraphInterface::GetTrajectoryData

(

)

const [pure virtual]

Implemented in cartographer::mapping::PoseGraph2D, cartographer::mapping::PoseGraph3D, and cartographer::cloud::PoseGraphStub.

virtual MapById<NodeId, TrajectoryNodePose> cartographer::mapping::PoseGraphInterface::GetTrajectoryNodePoses

(

)

const [pure virtual]

Implemented in cartographer::mapping::PoseGraph2D, cartographer::mapping::PoseGraph3D, and cartographer::cloud::PoseGraphStub.

virtual MapById<NodeId, TrajectoryNode> cartographer::mapping::PoseGraphInterface::GetTrajectoryNodes

(

)

const [pure virtual]

Implemented in cartographer::mapping::PoseGraph2D, cartographer::mapping::PoseGraph3D, and cartographer::cloud::PoseGraphStub.

virtual std::map<int, TrajectoryState> cartographer::mapping::PoseGraphInterface::GetTrajectoryStates

(

)

const [pure virtual]

Implemented in cartographer::mapping::PoseGraph2D, cartographer::mapping::PoseGraph3D, and cartographer::cloud::PoseGraphStub.

virtual bool cartographer::mapping::PoseGraphInterface::IsTrajectoryFinished

(

int

trajectory_id

)

const [pure virtual]

Implemented in cartographer::mapping::PoseGraph2D, cartographer::mapping::PoseGraph3D, and cartographer::cloud::PoseGraphStub.

virtual bool cartographer::mapping::PoseGraphInterface::IsTrajectoryFrozen

(

int

trajectory_id

)

const [pure virtual]

Implemented in cartographer::mapping::PoseGraph2D, cartographer::mapping::PoseGraph3D, and cartographer::cloud::PoseGraphStub.

PoseGraphInterface& cartographer::mapping::PoseGraphInterface::operator=

(

const PoseGraphInterface &

)

virtual void cartographer::mapping::PoseGraphInterface::RunFinalOptimization

(

)

[pure virtual]

Implemented in cartographer::mapping::PoseGraph2D, cartographer::mapping::PoseGraph3D, and cartographer::cloud::PoseGraphStub.

virtual void cartographer::mapping::PoseGraphInterface::SetGlobalSlamOptimizationCallback

(

GlobalSlamOptimizationCallback

callback

)

[pure virtual]

Implemented in cartographer::cloud::PoseGraphStub.

virtual void cartographer::mapping::PoseGraphInterface::SetLandmarkPose	(	const std::string &	landmark_id,
		const transform::Rigid3d &	global_pose,
		const bool	frozen = false
	)		[pure virtual]

Implemented in cartographer::mapping::PoseGraph2D, cartographer::mapping::PoseGraph3D, and cartographer::cloud::PoseGraphStub.

virtual proto::PoseGraph cartographer::mapping::PoseGraphInterface::ToProto

(

bool

include_unfinished_submaps

)

const [pure virtual]

Implemented in cartographer::mapping::PoseGraph, and cartographer::cloud::PoseGraphStub.

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

• pose_graph_interface.h