cartographer::mapping::optimization::OptimizationProblem3D Class Reference

#include <optimization_problem_3d.h>

Inheritance diagram for cartographer::mapping::optimization::OptimizationProblem3D:

List of all members.

Public Member Functions
void	AddFixedFramePoseData (int trajectory_id, const sensor::FixedFramePoseData &fixed_frame_pose_data)
void	AddImuData (int trajectory_id, const sensor::ImuData &imu_data) override
void	AddOdometryData (int trajectory_id, const sensor::OdometryData &odometry_data) override
void	AddSubmap (int trajectory_id, const transform::Rigid3d &global_submap_pose) override
void	AddTrajectoryNode (int trajectory_id, const NodeSpec3D &node_data) override
const sensor::MapByTime < sensor::FixedFramePoseData > &	fixed_frame_pose_data () const
const sensor::MapByTime < sensor::ImuData > &	imu_data () const override
void	InsertSubmap (const SubmapId &submap_id, const transform::Rigid3d &global_submap_pose) override
void	InsertTrajectoryNode (const NodeId &node_id, const NodeSpec3D &node_data) override
const std::map< std::string, transform::Rigid3d > &	landmark_data () const override
const MapById< NodeId, NodeSpec3D > &	node_data () const override
const sensor::MapByTime < sensor::OdometryData > &	odometry_data () const override
OptimizationProblem3D &	operator= (const OptimizationProblem3D &)
	OptimizationProblem3D (const optimization::proto::OptimizationProblemOptions &options)
	OptimizationProblem3D (const OptimizationProblem3D &)
void	SetMaxNumIterations (int32 max_num_iterations) override
void	SetTrajectoryData (int trajectory_id, const PoseGraphInterface::TrajectoryData &trajectory_data)
void	Solve (const std::vector< Constraint > &constraints, const std::map< int, PoseGraphInterface::TrajectoryState > &trajectories_state, const std::map< std::string, LandmarkNode > &landmark_nodes) override
const MapById< SubmapId, SubmapSpec3D > &	submap_data () const override
const std::map< int, PoseGraphInterface::TrajectoryData > &	trajectory_data () const
void	TrimSubmap (const SubmapId &submap_id) override
void	TrimTrajectoryNode (const NodeId &node_id) override
	~OptimizationProblem3D ()
Private Member Functions
std::unique_ptr < transform::Rigid3d >	CalculateOdometryBetweenNodes (int trajectory_id, const NodeSpec3D &first_node_data, const NodeSpec3D &second_node_data) const
Private Attributes
sensor::MapByTime < sensor::FixedFramePoseData >	fixed_frame_pose_data_
sensor::MapByTime < sensor::ImuData >	imu_data_
std::map< std::string, transform::Rigid3d >	landmark_data_
MapById< NodeId, NodeSpec3D >	node_data_
sensor::MapByTime < sensor::OdometryData >	odometry_data_
optimization::proto::OptimizationProblemOptions	options_
MapById< SubmapId, SubmapSpec3D >	submap_data_
std::map< int, PoseGraphInterface::TrajectoryData >	trajectory_data_

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Detailed Description

Definition at line 54 of file optimization_problem_3d.h.

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Constructor & Destructor Documentation

cartographer::mapping::optimization::OptimizationProblem3D::OptimizationProblem3D

(

const optimization::proto::OptimizationProblemOptions &

options

)

[explicit]

Definition at line 188 of file optimization_problem_3d.cc.

cartographer::mapping::optimization::OptimizationProblem3D::~OptimizationProblem3D

(

)

Definition at line 192 of file optimization_problem_3d.cc.

cartographer::mapping::optimization::OptimizationProblem3D::OptimizationProblem3D

(

const OptimizationProblem3D &

)

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Member Function Documentation

void cartographer::mapping::optimization::OptimizationProblem3D::AddFixedFramePoseData	(	int	trajectory_id,
		const sensor::FixedFramePoseData &	fixed_frame_pose_data
	)

Definition at line 204 of file optimization_problem_3d.cc.

void cartographer::mapping::optimization::OptimizationProblem3D::AddImuData	(	int	trajectory_id,
		const sensor::ImuData &	imu_data
	)		[override, virtual]

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec3D, SubmapSpec3D, transform::Rigid3d >.

Definition at line 194 of file optimization_problem_3d.cc.

void cartographer::mapping::optimization::OptimizationProblem3D::AddOdometryData	(	int	trajectory_id,
		const sensor::OdometryData &	odometry_data
	)		[override, virtual]

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec3D, SubmapSpec3D, transform::Rigid3d >.

Definition at line 199 of file optimization_problem_3d.cc.

void cartographer::mapping::optimization::OptimizationProblem3D::AddSubmap	(	int	trajectory_id,
		const transform::Rigid3d &	global_submap_pose
	)		[override, virtual]

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec3D, SubmapSpec3D, transform::Rigid3d >.

Definition at line 237 of file optimization_problem_3d.cc.

void cartographer::mapping::optimization::OptimizationProblem3D::AddTrajectoryNode	(	int	trajectory_id,
		const NodeSpec3D &	node_data
	)		[override, virtual]

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec3D, SubmapSpec3D, transform::Rigid3d >.

Definition at line 210 of file optimization_problem_3d.cc.

std::unique_ptr< transform::Rigid3d > cartographer::mapping::optimization::OptimizationProblem3D::CalculateOdometryBetweenNodes	(	int	trajectory_id,
		const NodeSpec3D &	first_node_data,
		const NodeSpec3D &	second_node_data
	)		const [private]

Definition at line 600 of file optimization_problem_3d.cc.

const sensor::MapByTime<sensor::FixedFramePoseData>& cartographer::mapping::optimization::OptimizationProblem3D::fixed_frame_pose_data

(

)

const [inline]

Definition at line 110 of file optimization_problem_3d.h.

const sensor::MapByTime<sensor::ImuData>& cartographer::mapping::optimization::OptimizationProblem3D::imu_data

(

)

const [inline, override, virtual]

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec3D, SubmapSpec3D, transform::Rigid3d >.

Definition at line 96 of file optimization_problem_3d.h.

void cartographer::mapping::optimization::OptimizationProblem3D::InsertSubmap	(	const SubmapId &	submap_id,
		const transform::Rigid3d &	global_submap_pose
	)		[override, virtual]

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec3D, SubmapSpec3D, transform::Rigid3d >.

Definition at line 242 of file optimization_problem_3d.cc.

void cartographer::mapping::optimization::OptimizationProblem3D::InsertTrajectoryNode	(	const NodeId &	node_id,
		const NodeSpec3D &	node_data
	)		[override, virtual]

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec3D, SubmapSpec3D, transform::Rigid3d >.

Definition at line 221 of file optimization_problem_3d.cc.

const std::map<std::string, transform::Rigid3d>& cartographer::mapping::optimization::OptimizationProblem3D::landmark_data

(

)

const [inline, override, virtual]

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec3D, SubmapSpec3D, transform::Rigid3d >.

Definition at line 92 of file optimization_problem_3d.h.

const MapById<NodeId, NodeSpec3D>& cartographer::mapping::optimization::OptimizationProblem3D::node_data

(

)

const [inline, override, virtual]

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec3D, SubmapSpec3D, transform::Rigid3d >.

Definition at line 86 of file optimization_problem_3d.h.

const sensor::MapByTime<sensor::OdometryData>& cartographer::mapping::optimization::OptimizationProblem3D::odometry_data

(

)

const [inline, override, virtual]

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec3D, SubmapSpec3D, transform::Rigid3d >.

Definition at line 99 of file optimization_problem_3d.h.

OptimizationProblem3D& cartographer::mapping::optimization::OptimizationProblem3D::operator=

(

const OptimizationProblem3D &

)

void cartographer::mapping::optimization::OptimizationProblem3D::SetMaxNumIterations

(

int32

max_num_iterations

)

[override, virtual]

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec3D, SubmapSpec3D, transform::Rigid3d >.

Definition at line 251 of file optimization_problem_3d.cc.

void cartographer::mapping::optimization::OptimizationProblem3D::SetTrajectoryData	(	int	trajectory_id,
		const PoseGraphInterface::TrajectoryData &	trajectory_data
	)

Definition at line 216 of file optimization_problem_3d.cc.

void cartographer::mapping::optimization::OptimizationProblem3D::Solve	(	const std::vector< Constraint > &	constraints,
		const std::map< int, PoseGraphInterface::TrajectoryState > &	trajectories_state,
		const std::map< std::string, LandmarkNode > &	landmark_nodes
	)		[override, virtual]

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec3D, SubmapSpec3D, transform::Rigid3d >.

Definition at line 257 of file optimization_problem_3d.cc.

const MapById<SubmapId, SubmapSpec3D>& cartographer::mapping::optimization::OptimizationProblem3D::submap_data

(

)

const [inline, override, virtual]

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec3D, SubmapSpec3D, transform::Rigid3d >.

Definition at line 89 of file optimization_problem_3d.h.

const std::map<int, PoseGraphInterface::TrajectoryData>& cartographer::mapping::optimization::OptimizationProblem3D::trajectory_data

(

)

const [inline]

Definition at line 114 of file optimization_problem_3d.h.

void cartographer::mapping::optimization::OptimizationProblem3D::TrimSubmap

(

const SubmapId &

submap_id

)

[override, virtual]

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec3D, SubmapSpec3D, transform::Rigid3d >.

Definition at line 247 of file optimization_problem_3d.cc.

void cartographer::mapping::optimization::OptimizationProblem3D::TrimTrajectoryNode

(

const NodeId &

node_id

)

[override, virtual]

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec3D, SubmapSpec3D, transform::Rigid3d >.

Definition at line 227 of file optimization_problem_3d.cc.

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Member Data Documentation

sensor::MapByTime<sensor::FixedFramePoseData> cartographer::mapping::optimization::OptimizationProblem3D::fixed_frame_pose_data_ [private]

Definition at line 131 of file optimization_problem_3d.h.

sensor::MapByTime<sensor::ImuData> cartographer::mapping::optimization::OptimizationProblem3D::imu_data_ [private]

Definition at line 129 of file optimization_problem_3d.h.

std::map<std::string, transform::Rigid3d> cartographer::mapping::optimization::OptimizationProblem3D::landmark_data_ [private]

Definition at line 128 of file optimization_problem_3d.h.

MapById<NodeId, NodeSpec3D> cartographer::mapping::optimization::OptimizationProblem3D::node_data_ [private]

Definition at line 126 of file optimization_problem_3d.h.

sensor::MapByTime<sensor::OdometryData> cartographer::mapping::optimization::OptimizationProblem3D::odometry_data_ [private]

Definition at line 130 of file optimization_problem_3d.h.

optimization::proto::OptimizationProblemOptions cartographer::mapping::optimization::OptimizationProblem3D::options_ [private]

Definition at line 125 of file optimization_problem_3d.h.

MapById<SubmapId, SubmapSpec3D> cartographer::mapping::optimization::OptimizationProblem3D::submap_data_ [private]

Definition at line 127 of file optimization_problem_3d.h.

std::map<int, PoseGraphInterface::TrajectoryData> cartographer::mapping::optimization::OptimizationProblem3D::trajectory_data_ [private]

Definition at line 132 of file optimization_problem_3d.h.

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

• optimization_problem_3d.h
• optimization_problem_3d.cc