Public Member Functions | Private Attributes | List of all members
cartographer::mapping::MapBuilder Class Reference

#include <map_builder.h>

Public Member Functions

int AddTrajectoryBuilder (const std::unordered_set< string > &expected_sensor_ids, const proto::TrajectoryBuilderOptions &trajectory_options)
 
void FinishTrajectory (int trajectory_id)
 
int GetBlockingTrajectoryId () const
 
mapping::TrajectoryBuilderGetTrajectoryBuilder (int trajectory_id) const
 
 MapBuilder (const proto::MapBuilderOptions &options)
 
 MapBuilder (const MapBuilder &)=delete
 
int num_trajectory_builders () const
 
MapBuilderoperator= (const MapBuilder &)=delete
 
mapping::SparsePoseGraphsparse_pose_graph ()
 
string SubmapToProto (int trajectory_id, int submap_index, proto::SubmapQuery::Response *response)
 
 ~MapBuilder ()
 

Private Attributes

const proto::MapBuilderOptions options_
 
sensor::Collator sensor_collator_
 
mapping::SparsePoseGraphsparse_pose_graph_
 
std::unique_ptr< mapping_2d::SparsePoseGraphsparse_pose_graph_2d_
 
std::unique_ptr< mapping_3d::SparsePoseGraphsparse_pose_graph_3d_
 
common::ThreadPool thread_pool_
 
std::vector< std::unique_ptr< mapping::TrajectoryBuilder > > trajectory_builders_
 

Detailed Description

Definition at line 48 of file map_builder.h.

Constructor & Destructor Documentation

cartographer::mapping::MapBuilder::MapBuilder ( const proto::MapBuilderOptions &  options)

Definition at line 54 of file map_builder.cc.

cartographer::mapping::MapBuilder::~MapBuilder ( )

Definition at line 68 of file map_builder.cc.

cartographer::mapping::MapBuilder::MapBuilder ( const MapBuilder )
delete

Member Function Documentation

int cartographer::mapping::MapBuilder::AddTrajectoryBuilder ( const std::unordered_set< string > &  expected_sensor_ids,
const proto::TrajectoryBuilderOptions &  trajectory_options 
)

Definition at line 70 of file map_builder.cc.

void cartographer::mapping::MapBuilder::FinishTrajectory ( int  trajectory_id)

Definition at line 99 of file map_builder.cc.

int cartographer::mapping::MapBuilder::GetBlockingTrajectoryId ( ) const

Definition at line 103 of file map_builder.cc.

TrajectoryBuilder * cartographer::mapping::MapBuilder::GetTrajectoryBuilder ( int  trajectory_id) const

Definition at line 94 of file map_builder.cc.

int cartographer::mapping::MapBuilder::num_trajectory_builders ( ) const

Definition at line 131 of file map_builder.cc.

MapBuilder& cartographer::mapping::MapBuilder::operator= ( const MapBuilder )
delete
SparsePoseGraph * cartographer::mapping::MapBuilder::sparse_pose_graph ( )

Definition at line 135 of file map_builder.cc.

string cartographer::mapping::MapBuilder::SubmapToProto ( int  trajectory_id,
int  submap_index,
proto::SubmapQuery::Response *  response 
)

Definition at line 107 of file map_builder.cc.

Member Data Documentation

const proto::MapBuilderOptions cartographer::mapping::MapBuilder::options_
private

Definition at line 85 of file map_builder.h.

sensor::Collator cartographer::mapping::MapBuilder::sensor_collator_
private

Definition at line 92 of file map_builder.h.

mapping::SparsePoseGraph* cartographer::mapping::MapBuilder::sparse_pose_graph_
private

Definition at line 90 of file map_builder.h.

std::unique_ptr<mapping_2d::SparsePoseGraph> cartographer::mapping::MapBuilder::sparse_pose_graph_2d_
private

Definition at line 88 of file map_builder.h.

std::unique_ptr<mapping_3d::SparsePoseGraph> cartographer::mapping::MapBuilder::sparse_pose_graph_3d_
private

Definition at line 89 of file map_builder.h.

common::ThreadPool cartographer::mapping::MapBuilder::thread_pool_
private

Definition at line 86 of file map_builder.h.

std::vector<std::unique_ptr<mapping::TrajectoryBuilder> > cartographer::mapping::MapBuilder::trajectory_builders_
private

Definition at line 93 of file map_builder.h.


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


cartographer
Author(s):
autogenerated on Mon Jun 10 2019 12:51:39