#include <kalman_local_trajectory_builder.h>

Inheritance diagram for cartographer::mapping_3d::KalmanLocalTrajectoryBuilder:

Public Member Functions
void	AddImuData (common::Time time, const Eigen::Vector3d &linear_acceleration, const Eigen::Vector3d &angular_velocity) override

void	AddOdometerData (common::Time time, const transform::Rigid3d &pose) override

std::unique_ptr< InsertionResult >	AddRangefinderData (common::Time time, const Eigen::Vector3f &origin, const sensor::PointCloud &ranges) override

	KalmanLocalTrajectoryBuilder (const proto::LocalTrajectoryBuilderOptions &options)

	KalmanLocalTrajectoryBuilder (const KalmanLocalTrajectoryBuilder &)=delete

KalmanLocalTrajectoryBuilder &	operator= (const KalmanLocalTrajectoryBuilder &)=delete

const PoseEstimate &	pose_estimate () const override

mapping_3d::Submaps *	submaps () override

	~KalmanLocalTrajectoryBuilder () override

Public Member Functions inherited from cartographer::mapping_3d::LocalTrajectoryBuilderInterface
	LocalTrajectoryBuilderInterface (const LocalTrajectoryBuilderInterface &)=delete

LocalTrajectoryBuilderInterface &	operator= (const LocalTrajectoryBuilderInterface &)=delete

virtual	~LocalTrajectoryBuilderInterface ()

Private Member Functions
std::unique_ptr< InsertionResult >	AddAccumulatedRangeData (common::Time time, const sensor::RangeData &range_data_in_tracking)

std::unique_ptr< InsertionResult >	InsertIntoSubmap (common::Time time, const sensor::RangeData &range_data_in_tracking, const transform::Rigid3d &pose_observation)

Private Attributes
sensor::RangeData	accumulated_range_data_

std::unique_ptr< scan_matching::CeresScanMatcher >	ceres_scan_matcher_

transform::Rigid3f	first_pose_prediction_

PoseEstimate	last_pose_estimate_

MotionFilter	motion_filter_

int	num_accumulated_

const proto::LocalTrajectoryBuilderOptions	options_

std::unique_ptr< kalman_filter::PoseTracker >	pose_tracker_

std::unique_ptr< scan_matching::RealTimeCorrelativeScanMatcher >	real_time_correlative_scan_matcher_

transform::Rigid3d	scan_matcher_pose_estimate_

std::unique_ptr< mapping_3d::Submaps >	submaps_

Additional Inherited Members
Public Types inherited from cartographer::mapping_3d::LocalTrajectoryBuilderInterface
using	PoseEstimate = mapping::GlobalTrajectoryBuilderInterface::PoseEstimate

Protected Member Functions inherited from cartographer::mapping_3d::LocalTrajectoryBuilderInterface
	LocalTrajectoryBuilderInterface ()

Detailed Description

Definition at line 39 of file kalman_local_trajectory_builder.h.

Constructor & Destructor Documentation

cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::KalmanLocalTrajectoryBuilder ( const proto::LocalTrajectoryBuilderOptions & options )

explicit

Definition at line 31 of file kalman_local_trajectory_builder.cc.

cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::~KalmanLocalTrajectoryBuilder ( )

override

Definition at line 47 of file kalman_local_trajectory_builder.cc.

cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::KalmanLocalTrajectoryBuilder ( const KalmanLocalTrajectoryBuilder & )

delete

Member Function Documentation

std::unique_ptr< KalmanLocalTrajectoryBuilder::InsertionResult > cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::AddAccumulatedRangeData	(	common::Time	time,
		const sensor::RangeData &	range_data_in_tracking
	)

private

Definition at line 124 of file kalman_local_trajectory_builder.cc.

void cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::AddImuData	(	common::Time	time,
		const Eigen::Vector3d &	linear_acceleration,
		const Eigen::Vector3d &	angular_velocity
	)

overridevirtual

Implements cartographer::mapping_3d::LocalTrajectoryBuilderInterface.

Definition at line 53 of file kalman_local_trajectory_builder.cc.

void cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::AddOdometerData	(	common::Time	time,
		const transform::Rigid3d &	pose
	)

overridevirtual

Implements cartographer::mapping_3d::LocalTrajectoryBuilderInterface.

Definition at line 193 of file kalman_local_trajectory_builder.cc.

std::unique_ptr< KalmanLocalTrajectoryBuilder::InsertionResult > cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::AddRangefinderData	(	common::Time	time,
		const Eigen::Vector3f &	origin,
		const sensor::PointCloud &	ranges
	)

overridevirtual

Implements cartographer::mapping_3d::LocalTrajectoryBuilderInterface.

Definition at line 73 of file kalman_local_trajectory_builder.cc.

std::unique_ptr< KalmanLocalTrajectoryBuilder::InsertionResult > cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::InsertIntoSubmap	(	common::Time	time,
		const sensor::RangeData &	range_data_in_tracking,
		const transform::Rigid3d &	pose_observation
	)

private

Definition at line 216 of file kalman_local_trajectory_builder.cc.

KalmanLocalTrajectoryBuilder& cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::operator= ( const KalmanLocalTrajectoryBuilder & )

delete

const KalmanLocalTrajectoryBuilder::PoseEstimate & cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::pose_estimate ( ) const

overridevirtual

Implements cartographer::mapping_3d::LocalTrajectoryBuilderInterface.

Definition at line 211 of file kalman_local_trajectory_builder.cc.

mapping_3d::Submaps * cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::submaps ( )

overridevirtual

Implements cartographer::mapping_3d::LocalTrajectoryBuilderInterface.

Definition at line 49 of file kalman_local_trajectory_builder.cc.

Member Data Documentation

sensor::RangeData cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::accumulated_range_data_

private

Definition at line 84 of file kalman_local_trajectory_builder.h.

std::unique_ptr<scan_matching::CeresScanMatcher> cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::ceres_scan_matcher_

private

Definition at line 78 of file kalman_local_trajectory_builder.h.

transform::Rigid3f cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::first_pose_prediction_

private

Definition at line 83 of file kalman_local_trajectory_builder.h.

PoseEstimate cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::last_pose_estimate_

private

Definition at line 70 of file kalman_local_trajectory_builder.h.

MotionFilter cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::motion_filter_

private

Definition at line 75 of file kalman_local_trajectory_builder.h.

int cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::num_accumulated_

private

Definition at line 82 of file kalman_local_trajectory_builder.h.

const proto::LocalTrajectoryBuilderOptions cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::options_

private

Definition at line 67 of file kalman_local_trajectory_builder.h.

std::unique_ptr<kalman_filter::PoseTracker> cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::pose_tracker_

private

Definition at line 80 of file kalman_local_trajectory_builder.h.

std::unique_ptr<scan_matching::RealTimeCorrelativeScanMatcher> cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::real_time_correlative_scan_matcher_

private

Definition at line 77 of file kalman_local_trajectory_builder.h.

transform::Rigid3d cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::scan_matcher_pose_estimate_

private

Definition at line 73 of file kalman_local_trajectory_builder.h.

std::unique_ptr<mapping_3d::Submaps> cartographer::mapping_3d::KalmanLocalTrajectoryBuilder::submaps_

private

Definition at line 68 of file kalman_local_trajectory_builder.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation