#include "cartographer/mapping/internal/3d/pose_graph_3d.h"#include <algorithm>#include <cmath>#include <cstdio>#include <functional>#include <iomanip>#include <iostream>#include <limits>#include <memory>#include <sstream>#include <string>#include "Eigen/Eigenvalues"#include "absl/memory/memory.h"#include "cartographer/common/math.h"#include "cartographer/mapping/proto/pose_graph/constraint_builder_options.pb.h"#include "cartographer/sensor/compressed_point_cloud.h"#include "cartographer/sensor/internal/voxel_filter.h"#include "cartographer/transform/transform.h"#include "glog/logging.h"
Include dependency graph for pose_graph_3d.cc:
Go to the source code of this file.
Namespaces | |
| namespace | cartographer |
| namespace | cartographer::mapping |
Functions | |
| return global_submap_poses | cartographer::mapping::at (last_optimized_submap_id).global_pose *data_.submap_data.at(last_optimized_submap_id).submap->local_pose().inverse() |