Public Types | Public Member Functions | Private Attributes | List of all members
cartographer::mapping_3d::sparse_pose_graph::OptimizationProblem Class Reference

#include <optimization_problem.h>

Public Types

using Constraint = mapping::SparsePoseGraph::Constraint
 
enum  FixZ { FixZ::kYes, FixZ::kNo }
 

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::Rigid3d &submap_pose)
 
void AddTrajectoryNode (int trajectory_id, common::Time time, const transform::Rigid3d &point_cloud_pose)
 
const std::vector< std::vector< NodeData > > & node_data () const
 
OptimizationProblemoperator= (const OptimizationProblem &)=delete
 
 OptimizationProblem (const mapping::sparse_pose_graph::proto::OptimizationProblemOptions &options, FixZ fix_z)
 
 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

FixZ fix_z_
 
double gravity_constant_ = 9.8
 
std::vector< std::deque< ImuData > > imu_data_
 
std::vector< std::vector< NodeData > > node_data_
 
mapping::sparse_pose_graph::proto::OptimizationProblemOptions options_
 
std::vector< std::vector< SubmapData > > submap_data_
 

Detailed Description

Definition at line 47 of file mapping_3d/sparse_pose_graph/optimization_problem.h.

Member Typedef Documentation

Member Enumeration Documentation

Enumerator
kYes 
kNo 

Definition at line 51 of file mapping_3d/sparse_pose_graph/optimization_problem.h.

Constructor & Destructor Documentation

cartographer::mapping_3d::sparse_pose_graph::OptimizationProblem::OptimizationProblem ( const mapping::sparse_pose_graph::proto::OptimizationProblemOptions &  options,
FixZ  fix_z 
)
cartographer::mapping_3d::sparse_pose_graph::OptimizationProblem::~OptimizationProblem ( )
cartographer::mapping_3d::sparse_pose_graph::OptimizationProblem::OptimizationProblem ( const OptimizationProblem )
delete

Member Function Documentation

void cartographer::mapping_3d::sparse_pose_graph::OptimizationProblem::AddImuData ( int  trajectory_id,
common::Time  time,
const Eigen::Vector3d &  linear_acceleration,
const Eigen::Vector3d &  angular_velocity 
)
void cartographer::mapping_3d::sparse_pose_graph::OptimizationProblem::AddSubmap ( int  trajectory_id,
const transform::Rigid3d submap_pose 
)
void cartographer::mapping_3d::sparse_pose_graph::OptimizationProblem::AddTrajectoryNode ( int  trajectory_id,
common::Time  time,
const transform::Rigid3d point_cloud_pose 
)
const std::vector< std::vector< NodeData > > & cartographer::mapping_3d::sparse_pose_graph::OptimizationProblem::node_data ( ) const
OptimizationProblem& cartographer::mapping_3d::sparse_pose_graph::OptimizationProblem::operator= ( const OptimizationProblem )
delete
void cartographer::mapping_3d::sparse_pose_graph::OptimizationProblem::SetMaxNumIterations ( int32  max_num_iterations)
void cartographer::mapping_3d::sparse_pose_graph::OptimizationProblem::Solve ( const std::vector< Constraint > &  constraints)
const std::vector< std::vector< SubmapData > > & cartographer::mapping_3d::sparse_pose_graph::OptimizationProblem::submap_data ( ) const

Member Data Documentation

FixZ cartographer::mapping_3d::sparse_pose_graph::OptimizationProblem::fix_z_
private
double cartographer::mapping_3d::sparse_pose_graph::OptimizationProblem::gravity_constant_ = 9.8
private
std::vector<std::deque<ImuData> > cartographer::mapping_3d::sparse_pose_graph::OptimizationProblem::imu_data_
private
std::vector<std::vector<NodeData> > cartographer::mapping_3d::sparse_pose_graph::OptimizationProblem::node_data_
private
mapping::sparse_pose_graph::proto::OptimizationProblemOptions cartographer::mapping_3d::sparse_pose_graph::OptimizationProblem::options_
private
std::vector<std::vector<SubmapData> > cartographer::mapping_3d::sparse_pose_graph::OptimizationProblem::submap_data_
private

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


cartographer
Author(s):
autogenerated on Mon Jun 10 2019 12:51:40