cartographer::mapping Namespace Reference

Namespaces
	sparse_pose_graph

Classes
class	CollatedTrajectoryBuilder
struct	Floor
class	GlobalTrajectoryBuilderInterface
class	ImuTracker
class	MapBuilder
class	NestedVectorsById
struct	NodeId
struct	OdometryState
class	OdometryStateTracker
class	PoseGraphTrimmer
class	PureLocalizationTrimmer
class	SparsePoseGraph
class	Submap
struct	SubmapId
class	Submaps
struct	Timespan
class	TrajectoryBuilder
class	TrajectoryConnectivity
struct	TrajectoryNode
class	Trimmable

Functions
float	ClampProbability (const float probability)
std::vector< uint16 >	ComputeLookupTableToApplyOdds (const float odds)
proto::MapBuilderOptions	CreateMapBuilderOptions (common::LuaParameterDictionary *const parameter_dictionary)
proto::SparsePoseGraphOptions	CreateSparsePoseGraphOptions (common::LuaParameterDictionary *const parameter_dictionary)
proto::TrajectoryBuilderOptions	CreateTrajectoryBuilderOptions (common::LuaParameterDictionary *const parameter_dictionary)
std::vector< Floor >	DetectFloors (const proto::Trajectory &trajectory)
proto::TrajectoryConnectivity::ConnectedComponent	FindConnectedComponent (const cartographer::mapping::proto::TrajectoryConnectivity &trajectory_connectivity, int trajectory_id)
proto::TrajectoryConnectivity::ConnectedComponent	FindConnectedComponent (const proto::TrajectoryConnectivity &trajectory_connectivity, const int trajectory_id)
float	Logit (float probability)
float	Odds (float probability)
std::ostream &	operator<< (std::ostream &os, const NodeId &v)
std::ostream &	operator<< (std::ostream &os, const SubmapId &v)
float	ProbabilityFromOdds (const float odds)
uint8	ProbabilityToLogOddsInteger (const float probability)
uint16	ProbabilityToValue (const float probability)
proto::SparsePoseGraph::Constraint::Tag	ToProto (const SparsePoseGraph::Constraint::Tag &tag)
proto::TrajectoryConnectivity	ToProto (std::vector< std::vector< int >> connected_components)
float	ValueToProbability (const uint16 value)

Variables
const float	kMaxLogOdds = Logit(kMaxProbability)
constexpr float	kMaxProbability = 1.f - kMinProbability
const float	kMinLogOdds = Logit(kMinProbability)
constexpr float	kMinProbability = 0.1f
constexpr uint16	kUnknownProbabilityValue = 0
constexpr uint16	kUpdateMarker = 1u << 15
const std::vector< float > *const	kValueToProbability

Function Documentation

float cartographer::mapping::ClampProbability ( const float  probability )

inline

Definition at line 42 of file probability_values.h.

std::vector< uint16 > cartographer::mapping::ComputeLookupTableToApplyOdds

(

const float

odds

)

Definition at line 53 of file probability_values.cc.

proto::MapBuilderOptions cartographer::mapping::CreateMapBuilderOptions

(

common::LuaParameterDictionary *const

parameter_dictionary

)

Definition at line 38 of file map_builder.cc.

proto::SparsePoseGraphOptions cartographer::mapping::CreateSparsePoseGraphOptions

(

common::LuaParameterDictionary *const

parameter_dictionary

)

Definition at line 38 of file sparse_pose_graph.cc.

proto::TrajectoryBuilderOptions cartographer::mapping::CreateTrajectoryBuilderOptions

(

common::LuaParameterDictionary *const

parameter_dictionary

)

Definition at line 25 of file trajectory_builder.cc.

std::vector< Floor > cartographer::mapping::DetectFloors

(

const proto::Trajectory &

trajectory

)

Definition at line 199 of file detect_floors.cc.

proto::TrajectoryConnectivity::ConnectedComponent cartographer::mapping::FindConnectedComponent	(	const cartographer::mapping::proto::TrajectoryConnectivity &	trajectory_connectivity,
		int	trajectory_id
	)

proto::TrajectoryConnectivity::ConnectedComponent cartographer::mapping::FindConnectedComponent	(	const proto::TrajectoryConnectivity &	trajectory_connectivity,
		const int	trajectory_id
	)

Definition at line 114 of file trajectory_connectivity.cc.

float cartographer::mapping::Logit ( float  probability )

inline

Definition at line 37 of file submaps.h.

float cartographer::mapping::Odds ( float  probability )

inline

Definition at line 30 of file probability_values.h.

std::ostream& cartographer::mapping::operator<< ( std::ostream &  os, const NodeId &  v  )

inline

Definition at line 40 of file id.h.

std::ostream& cartographer::mapping::operator<< ( std::ostream &  os, const SubmapId &  v  )

inline

Definition at line 63 of file id.h.

float cartographer::mapping::ProbabilityFromOdds ( const float  odds )

inline

Definition at line 34 of file probability_values.h.

uint8 cartographer::mapping::ProbabilityToLogOddsInteger ( const float  probability )

inline

Definition at line 46 of file submaps.h.

uint16 cartographer::mapping::ProbabilityToValue ( const float  probability )

inline

Definition at line 50 of file probability_values.h.

proto::SparsePoseGraph::Constraint::Tag cartographer::mapping::ToProto

(

const SparsePoseGraph::Constraint::Tag &

tag

)

Definition at line 27 of file sparse_pose_graph.cc.

proto::TrajectoryConnectivity cartographer::mapping::ToProto

(

std::vector< std::vector< int >>

connected_components

)

Definition at line 98 of file trajectory_connectivity.cc.

float cartographer::mapping::ValueToProbability ( const uint16  value )

inline

Definition at line 65 of file probability_values.h.

Variable Documentation

const float cartographer::mapping::kMaxLogOdds = Logit(kMaxProbability)

Definition at line 41 of file submaps.h.

constexpr float cartographer::mapping::kMaxProbability = 1.f - kMinProbability

Definition at line 39 of file probability_values.h.

const float cartographer::mapping::kMinLogOdds = Logit(kMinProbability)

Definition at line 42 of file submaps.h.

constexpr float cartographer::mapping::kMinProbability = 0.1f

Definition at line 38 of file probability_values.h.

constexpr uint16 cartographer::mapping::kUnknownProbabilityValue = 0

Definition at line 46 of file probability_values.h.

constexpr uint16 cartographer::mapping::kUpdateMarker = 1u << 15

Definition at line 47 of file probability_values.h.

const std::vector< float > *const cartographer::mapping::kValueToProbability

Initial value:

=
    PrecomputeValueToProbability()

Definition at line 50 of file probability_values.cc.