cartographer::mapping::constraints::ConstraintBuilder2D Class Reference

#include <constraint_builder_2d.h>

List of all members.

Classes
struct	SubmapScanMatcher
Public Member Functions
	ConstraintBuilder2D (const proto::ConstraintBuilderOptions &options, common::ThreadPoolInterface *thread_pool)
	ConstraintBuilder2D (const ConstraintBuilder2D &)
void	DeleteScanMatcher (const SubmapId &submap_id)
int	GetNumFinishedNodes ()
void	MaybeAddConstraint (const SubmapId &submap_id, const Submap2D *submap, const NodeId &node_id, const TrajectoryNode::Data *const constant_data, const transform::Rigid2d &initial_relative_pose)
void	MaybeAddGlobalConstraint (const SubmapId &submap_id, const Submap2D *submap, const NodeId &node_id, const TrajectoryNode::Data *const constant_data)
void	NotifyEndOfNode ()
ConstraintBuilder2D &	operator= (const ConstraintBuilder2D &)
void	WhenDone (const std::function< void(const Result &)> &callback)
	~ConstraintBuilder2D ()
Static Public Member Functions
static void	RegisterMetrics (metrics::FamilyFactory *family_factory)
Private Member Functions
void	ComputeConstraint (const SubmapId &submap_id, const Submap2D *submap, const NodeId &node_id, bool match_full_submap, const TrajectoryNode::Data *const constant_data, const transform::Rigid2d &initial_relative_pose, const SubmapScanMatcher &submap_scan_matcher, std::unique_ptr< Constraint > *constraint) LOCKS_EXCLUDED(mutex_)
const SubmapScanMatcher *	DispatchScanMatcherConstruction (const SubmapId &submap_id, const Grid2D *grid) EXCLUSIVE_LOCKS_REQUIRED(mutex_)
int num_started_nodes_	GUARDED_BY (mutex_)=0
int num_finished_nodes_	GUARDED_BY (mutex_)=0
std::unique_ptr< common::Task > finish_node_task_	GUARDED_BY (mutex_)
std::unique_ptr< common::Task > when_done_task_	GUARDED_BY (mutex_)
std::deque< std::unique_ptr < Constraint > > constraints_	GUARDED_BY (mutex_)
std::map< SubmapId, SubmapScanMatcher > submap_scan_matchers_	GUARDED_BY (mutex_)
common::Histogram score_histogram_	GUARDED_BY (mutex_)
void	RunWhenDoneCallback () LOCKS_EXCLUDED(mutex_)
Private Attributes
scan_matching::CeresScanMatcher2D	ceres_scan_matcher_
std::unique_ptr< std::function < void(const Result &)> > when_done_	GUARDED_BY (mutex_)
absl::Mutex	mutex_
const constraints::proto::ConstraintBuilderOptions	options_
common::FixedRatioSampler	sampler_
common::ThreadPoolInterface *	thread_pool_

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Detailed Description

Definition at line 59 of file constraint_builder_2d.h.

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Constructor & Destructor Documentation

cartographer::mapping::constraints::ConstraintBuilder2D::ConstraintBuilder2D	(	const proto::ConstraintBuilderOptions &	options,
		common::ThreadPoolInterface *	thread_pool
	)

cartographer::mapping::constraints::ConstraintBuilder2D::~ConstraintBuilder2D

(

)

Definition at line 66 of file constraint_builder_2d.cc.

cartographer::mapping::constraints::ConstraintBuilder2D::ConstraintBuilder2D

(

const ConstraintBuilder2D &

)

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Member Function Documentation

void cartographer::mapping::constraints::ConstraintBuilder2D::ComputeConstraint	(	const SubmapId &	submap_id,
		const Submap2D *	submap,
		const NodeId &	node_id,
		bool	match_full_submap,
		const TrajectoryNode::Data *const	constant_data,
		const transform::Rigid2d &	initial_relative_pose,
		const SubmapScanMatcher &	submap_scan_matcher,
		std::unique_ptr< Constraint > *	constraint
	)		[private]

Definition at line 180 of file constraint_builder_2d.cc.

void cartographer::mapping::constraints::ConstraintBuilder2D::DeleteScanMatcher

(

const SubmapId &

submap_id

)

Definition at line 299 of file constraint_builder_2d.cc.

const ConstraintBuilder2D::SubmapScanMatcher * cartographer::mapping::constraints::ConstraintBuilder2D::DispatchScanMatcherConstruction	(	const SubmapId &	submap_id,
		const Grid2D *	grid
	)		[private]

Definition at line 159 of file constraint_builder_2d.cc.

int cartographer::mapping::constraints::ConstraintBuilder2D::GetNumFinishedNodes

(

)

Definition at line 294 of file constraint_builder_2d.cc.

int num_started_nodes_ cartographer::mapping::constraints::ConstraintBuilder2D::GUARDED_BY

(

mutex_

)

[private, pure virtual]

int num_finished_nodes_ cartographer::mapping::constraints::ConstraintBuilder2D::GUARDED_BY

(

mutex_

)

[private, pure virtual]

std::unique_ptr<common::Task> finish_node_task_ cartographer::mapping::constraints::ConstraintBuilder2D::GUARDED_BY

(

mutex_

)

[private]

std::unique_ptr<common::Task> when_done_task_ cartographer::mapping::constraints::ConstraintBuilder2D::GUARDED_BY

(

mutex_

)

[private]

std::deque<std::unique_ptr<Constraint> > constraints_ cartographer::mapping::constraints::ConstraintBuilder2D::GUARDED_BY

(

mutex_

)

[private]

std::map<SubmapId, SubmapScanMatcher> submap_scan_matchers_ cartographer::mapping::constraints::ConstraintBuilder2D::GUARDED_BY

(

mutex_

)

[private]

common::Histogram score_histogram_ cartographer::mapping::constraints::ConstraintBuilder2D::GUARDED_BY

(

mutex_

)

[private]

void cartographer::mapping::constraints::ConstraintBuilder2D::MaybeAddConstraint	(	const SubmapId &	submap_id,
		const Submap2D *	submap,
		const NodeId &	node_id,
		const TrajectoryNode::Data *const	constant_data,
		const transform::Rigid2d &	initial_relative_pose
	)

Definition at line 75 of file constraint_builder_2d.cc.

void cartographer::mapping::constraints::ConstraintBuilder2D::MaybeAddGlobalConstraint	(	const SubmapId &	submap_id,
		const Submap2D *	submap,
		const NodeId &	node_id,
		const TrajectoryNode::Data *const	constant_data
	)

Definition at line 107 of file constraint_builder_2d.cc.

void cartographer::mapping::constraints::ConstraintBuilder2D::NotifyEndOfNode

(

)

Definition at line 132 of file constraint_builder_2d.cc.

ConstraintBuilder2D& cartographer::mapping::constraints::ConstraintBuilder2D::operator=

(

const ConstraintBuilder2D &

)

void cartographer::mapping::constraints::ConstraintBuilder2D::RegisterMetrics

(

metrics::FamilyFactory *

family_factory

)

[static]

Definition at line 308 of file constraint_builder_2d.cc.

void cartographer::mapping::constraints::ConstraintBuilder2D::RunWhenDoneCallback

(

)

[private]

Definition at line 271 of file constraint_builder_2d.cc.

void cartographer::mapping::constraints::ConstraintBuilder2D::WhenDone

(

const std::function< void(const Result &)> &

callback

)

Definition at line 146 of file constraint_builder_2d.cc.

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Member Data Documentation

scan_matching::CeresScanMatcher2D cartographer::mapping::constraints::ConstraintBuilder2D::ceres_scan_matcher_ [private]

Definition at line 165 of file constraint_builder_2d.h.

std::unique_ptr<std::function<void(const Result&)> > when_done_ cartographer::mapping::constraints::ConstraintBuilder2D::GUARDED_BY(mutex_) [private]

Definition at line 141 of file constraint_builder_2d.h.

absl::Mutex cartographer::mapping::constraints::ConstraintBuilder2D::mutex_ [private]

Definition at line 137 of file constraint_builder_2d.h.

const constraints::proto::ConstraintBuilderOptions cartographer::mapping::constraints::ConstraintBuilder2D::options_ [private]

Definition at line 135 of file constraint_builder_2d.h.

common::FixedRatioSampler cartographer::mapping::constraints::ConstraintBuilder2D::sampler_ [private]

Definition at line 164 of file constraint_builder_2d.h.

common::ThreadPoolInterface* cartographer::mapping::constraints::ConstraintBuilder2D::thread_pool_ [private]

Definition at line 136 of file constraint_builder_2d.h.

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

• constraint_builder_2d.h
• constraint_builder_2d.cc