cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType > Class Template Reference

#include <optimization_problem_interface.h>

List of all members.

Public Member Functions
virtual void	AddImuData (int trajectory_id, const sensor::ImuData &imu_data)=0
virtual void	AddOdometryData (int trajectory_id, const sensor::OdometryData &odometry_data)=0
virtual void	AddSubmap (int trajectory_id, const RigidTransformType &global_submap_pose)=0
virtual void	AddTrajectoryNode (int trajectory_id, const NodeDataType &node_data)=0
virtual const sensor::MapByTime < sensor::ImuData > &	imu_data () const =0
virtual void	InsertSubmap (const SubmapId &submap_id, const RigidTransformType &global_submap_pose)=0
virtual void	InsertTrajectoryNode (const NodeId &node_id, const NodeDataType &node_data)=0
virtual const std::map < std::string, transform::Rigid3d > &	landmark_data () const =0
virtual const MapById< NodeId, NodeDataType > &	node_data () const =0
virtual const sensor::MapByTime < sensor::OdometryData > &	odometry_data () const =0
OptimizationProblemInterface &	operator= (const OptimizationProblemInterface &)
	OptimizationProblemInterface ()
	OptimizationProblemInterface (const OptimizationProblemInterface &)
virtual void	SetMaxNumIterations (int32 max_num_iterations)=0
virtual void	Solve (const std::vector< Constraint > &constraints, const std::map< int, PoseGraphInterface::TrajectoryState > &trajectories_state, const std::map< std::string, LandmarkNode > &landmark_nodes)=0
virtual const MapById < SubmapId, SubmapDataType > &	submap_data () const =0
virtual void	TrimSubmap (const SubmapId &submap_id)=0
virtual void	TrimTrajectoryNode (const NodeId &node_id)=0
virtual	~OptimizationProblemInterface ()

---

Detailed Description

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>
class cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >

Definition at line 41 of file optimization_problem_interface.h.

---

Constructor & Destructor Documentation

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::OptimizationProblemInterface

(

)

[inline]

Definition at line 46 of file optimization_problem_interface.h.

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

virtual cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::~OptimizationProblemInterface

(

)

[inline, virtual]

Definition at line 47 of file optimization_problem_interface.h.

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::OptimizationProblemInterface

(

const OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType > &

)

---

Member Function Documentation

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

virtual void cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::AddImuData	(	int	trajectory_id,
		const sensor::ImuData &	imu_data
	)		[pure virtual]

Implemented in cartographer::mapping::optimization::OptimizationProblem2D, and cartographer::mapping::optimization::OptimizationProblem3D.

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

virtual void cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::AddOdometryData	(	int	trajectory_id,
		const sensor::OdometryData &	odometry_data
	)		[pure virtual]

Implemented in cartographer::mapping::optimization::OptimizationProblem2D, and cartographer::mapping::optimization::OptimizationProblem3D.

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

virtual void cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::AddSubmap	(	int	trajectory_id,
		const RigidTransformType &	global_submap_pose
	)		[pure virtual]

Implemented in cartographer::mapping::optimization::OptimizationProblem2D, and cartographer::mapping::optimization::OptimizationProblem3D.

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

virtual void cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::AddTrajectoryNode	(	int	trajectory_id,
		const NodeDataType &	node_data
	)		[pure virtual]

Implemented in cartographer::mapping::optimization::OptimizationProblem2D, and cartographer::mapping::optimization::OptimizationProblem3D.

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

virtual const sensor::MapByTime<sensor::ImuData>& cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::imu_data

(

)

const [pure virtual]

Implemented in cartographer::mapping::optimization::OptimizationProblem2D, and cartographer::mapping::optimization::OptimizationProblem3D.

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

virtual void cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::InsertSubmap	(	const SubmapId &	submap_id,
		const RigidTransformType &	global_submap_pose
	)		[pure virtual]

Implemented in cartographer::mapping::optimization::OptimizationProblem2D, and cartographer::mapping::optimization::OptimizationProblem3D.

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

virtual void cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::InsertTrajectoryNode	(	const NodeId &	node_id,
		const NodeDataType &	node_data
	)		[pure virtual]

Implemented in cartographer::mapping::optimization::OptimizationProblem2D, and cartographer::mapping::optimization::OptimizationProblem3D.

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

virtual const std::map<std::string, transform::Rigid3d>& cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::landmark_data

(

)

const [pure virtual]

Implemented in cartographer::mapping::optimization::OptimizationProblem2D, and cartographer::mapping::optimization::OptimizationProblem3D.

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

virtual const MapById<NodeId, NodeDataType>& cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::node_data

(

)

const [pure virtual]

Implemented in cartographer::mapping::optimization::OptimizationProblem2D, and cartographer::mapping::optimization::OptimizationProblem3D.

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

virtual const sensor::MapByTime<sensor::OdometryData>& cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::odometry_data

(

)

const [pure virtual]

Implemented in cartographer::mapping::optimization::OptimizationProblem2D, and cartographer::mapping::optimization::OptimizationProblem3D.

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

OptimizationProblemInterface& cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::operator=

(

const OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType > &

)

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

virtual void cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::SetMaxNumIterations

(

int32

max_num_iterations

)

[pure virtual]

Implemented in cartographer::mapping::optimization::OptimizationProblem2D, and cartographer::mapping::optimization::OptimizationProblem3D.

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

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

Implemented in cartographer::mapping::optimization::OptimizationProblem2D, and cartographer::mapping::optimization::OptimizationProblem3D.

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

virtual const MapById<SubmapId, SubmapDataType>& cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::submap_data

(

)

const [pure virtual]

Implemented in cartographer::mapping::optimization::OptimizationProblem2D, and cartographer::mapping::optimization::OptimizationProblem3D.

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

virtual void cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::TrimSubmap

(

const SubmapId &

submap_id

)

[pure virtual]

Implemented in cartographer::mapping::optimization::OptimizationProblem2D, and cartographer::mapping::optimization::OptimizationProblem3D.

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

virtual void cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::TrimTrajectoryNode

(

const NodeId &

node_id

)

[pure virtual]

Implemented in cartographer::mapping::optimization::OptimizationProblem2D, and cartographer::mapping::optimization::OptimizationProblem3D.

---

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

• optimization_problem_interface.h