#include <optimization_problem.h>
Public Types | |
using | Constraint = mapping::SparsePoseGraph::Constraint |
Public Member Functions | |
void | AddImuData (int trajectory_id, common::Time time, const Eigen::Vector3d &linear_acceleration, const Eigen::Vector3d &angular_velocity) |
void | AddSubmap (int trajectory_id, const transform::Rigid2d &submap_pose) |
void | AddTrajectoryNode (int trajectory_id, common::Time time, const transform::Rigid2d &initial_point_cloud_pose, const transform::Rigid2d &point_cloud_pose) |
const std::vector< std::vector< NodeData > > & | node_data () const |
OptimizationProblem & | operator= (const OptimizationProblem &)=delete |
OptimizationProblem (const mapping::sparse_pose_graph::proto::OptimizationProblemOptions &options) | |
OptimizationProblem (const OptimizationProblem &)=delete | |
void | SetMaxNumIterations (int32 max_num_iterations) |
void | Solve (const std::vector< Constraint > &constraints) |
const std::vector< std::vector< SubmapData > > & | submap_data () const |
~OptimizationProblem () | |
Private Attributes | |
std::vector< std::deque< mapping_3d::ImuData > > | imu_data_ |
std::vector< std::vector< NodeData > > | node_data_ |
mapping::sparse_pose_graph::proto::OptimizationProblemOptions | options_ |
std::vector< std::vector< SubmapData > > | submap_data_ |
Definition at line 48 of file mapping_2d/sparse_pose_graph/optimization_problem.h.
using cartographer::mapping_2d::sparse_pose_graph::OptimizationProblem::Constraint = mapping::SparsePoseGraph::Constraint |
Definition at line 50 of file mapping_2d/sparse_pose_graph/optimization_problem.h.
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explicit |
Definition at line 56 of file mapping_2d/sparse_pose_graph/optimization_problem.cc.
cartographer::mapping_2d::sparse_pose_graph::OptimizationProblem::~OptimizationProblem | ( | ) |
Definition at line 61 of file mapping_2d/sparse_pose_graph/optimization_problem.cc.
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delete |
void cartographer::mapping_2d::sparse_pose_graph::OptimizationProblem::AddImuData | ( | int | trajectory_id, |
common::Time | time, | ||
const Eigen::Vector3d & | linear_acceleration, | ||
const Eigen::Vector3d & | angular_velocity | ||
) |
Definition at line 63 of file mapping_2d/sparse_pose_graph/optimization_problem.cc.
void cartographer::mapping_2d::sparse_pose_graph::OptimizationProblem::AddSubmap | ( | int | trajectory_id, |
const transform::Rigid2d & | submap_pose | ||
) |
Definition at line 85 of file mapping_2d/sparse_pose_graph/optimization_problem.cc.
void cartographer::mapping_2d::sparse_pose_graph::OptimizationProblem::AddTrajectoryNode | ( | int | trajectory_id, |
common::Time | time, | ||
const transform::Rigid2d & | initial_point_cloud_pose, | ||
const transform::Rigid2d & | point_cloud_pose | ||
) |
Definition at line 74 of file mapping_2d/sparse_pose_graph/optimization_problem.cc.
const std::vector< std::vector< NodeData > > & cartographer::mapping_2d::sparse_pose_graph::OptimizationProblem::node_data | ( | ) | const |
Definition at line 206 of file mapping_2d/sparse_pose_graph/optimization_problem.cc.
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delete |
void cartographer::mapping_2d::sparse_pose_graph::OptimizationProblem::SetMaxNumIterations | ( | int32 | max_num_iterations | ) |
Definition at line 93 of file mapping_2d/sparse_pose_graph/optimization_problem.cc.
void cartographer::mapping_2d::sparse_pose_graph::OptimizationProblem::Solve | ( | const std::vector< Constraint > & | constraints | ) |
Definition at line 98 of file mapping_2d/sparse_pose_graph/optimization_problem.cc.
const std::vector< std::vector< SubmapData > > & cartographer::mapping_2d::sparse_pose_graph::OptimizationProblem::submap_data | ( | ) | const |
Definition at line 211 of file mapping_2d/sparse_pose_graph/optimization_problem.cc.
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private |
Definition at line 78 of file mapping_2d/sparse_pose_graph/optimization_problem.h.
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private |
Definition at line 79 of file mapping_2d/sparse_pose_graph/optimization_problem.h.
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private |
Definition at line 77 of file mapping_2d/sparse_pose_graph/optimization_problem.h.
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private |
Definition at line 80 of file mapping_2d/sparse_pose_graph/optimization_problem.h.