MapOptimizer Class Reference

Public Member Functions
void	mapDataReceivedCallback (const rtabmap_ros::MapDataConstPtr &msg)
	MapOptimizer ()
void	publishLoop (double tfDelay)
	~MapOptimizer ()

Private Attributes
std::multimap< int, Link >	cachedConstraints_
std::map< int, Signature >	cachedNodeInfos_
bool	globalOptimization_
ros::Publisher	mapDataPub_
ros::Subscriber	mapDataTopic_
std::string	mapFrameId_
ros::Publisher	mapGraphPub_
rtabmap::Transform	mapToOdom_
boost::mutex	mapToOdomMutex_
std::string	odomFrameId_
bool	optimizeFromLastNode_
Optimizer *	optimizer_
tf2_ros::TransformBroadcaster	tfBroadcaster_
boost::thread *	transformThread_

Detailed Description

Definition at line 46 of file MapOptimizerNode.cpp.

Constructor & Destructor Documentation

MapOptimizer::MapOptimizer ( )

inline

Definition at line 50 of file MapOptimizerNode.cpp.

MapOptimizer::~MapOptimizer ( )

inline

Definition at line 110 of file MapOptimizerNode.cpp.

Member Function Documentation

void MapOptimizer::mapDataReceivedCallback ( const rtabmap_ros::MapDataConstPtr &  msg )

inline

Definition at line 139 of file MapOptimizerNode.cpp.

void MapOptimizer::publishLoop ( double  tfDelay )

inline

Definition at line 119 of file MapOptimizerNode.cpp.

Member Data Documentation

std::multimap<int, Link> MapOptimizer::cachedConstraints_

private

Definition at line 331 of file MapOptimizerNode.cpp.

std::map<int, Signature> MapOptimizer::cachedNodeInfos_

private

Definition at line 332 of file MapOptimizerNode.cpp.

bool MapOptimizer::globalOptimization_

private

Definition at line 319 of file MapOptimizerNode.cpp.

ros::Publisher MapOptimizer::mapDataPub_

private

Definition at line 328 of file MapOptimizerNode.cpp.

ros::Subscriber MapOptimizer::mapDataTopic_

private

Definition at line 326 of file MapOptimizerNode.cpp.

std::string MapOptimizer::mapFrameId_

private

Definition at line 317 of file MapOptimizerNode.cpp.

ros::Publisher MapOptimizer::mapGraphPub_

private

Definition at line 329 of file MapOptimizerNode.cpp.

rtabmap::Transform MapOptimizer::mapToOdom_

private

Definition at line 323 of file MapOptimizerNode.cpp.

boost::mutex MapOptimizer::mapToOdomMutex_

private

Definition at line 324 of file MapOptimizerNode.cpp.

std::string MapOptimizer::odomFrameId_

private

Definition at line 318 of file MapOptimizerNode.cpp.

bool MapOptimizer::optimizeFromLastNode_

private

Definition at line 320 of file MapOptimizerNode.cpp.

Optimizer* MapOptimizer::optimizer_

private

Definition at line 321 of file MapOptimizerNode.cpp.

tf2_ros::TransformBroadcaster MapOptimizer::tfBroadcaster_

private

Definition at line 334 of file MapOptimizerNode.cpp.

boost::thread* MapOptimizer::transformThread_

private

Definition at line 335 of file MapOptimizerNode.cpp.

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

• MapOptimizerNode.cpp