#include <local_trajectory_builder_2d.h>

Classes
struct	InsertionResult
struct	MatchingResult
Public Member Functions
void	AddImuData (const sensor::ImuData &imu_data)
void	AddOdometryData (const sensor::OdometryData &odometry_data)
std::unique_ptr< MatchingResult >	AddRangeData (const std::string &sensor_id, const sensor::TimedPointCloudData &range_data)
	LocalTrajectoryBuilder2D (const proto::LocalTrajectoryBuilderOptions2D &options, const std::vector< std::string > &expected_range_sensor_ids)
	LocalTrajectoryBuilder2D (const LocalTrajectoryBuilder2D &)
LocalTrajectoryBuilder2D &	operator= (const LocalTrajectoryBuilder2D &)
	~LocalTrajectoryBuilder2D ()
Static Public Member Functions
static void	RegisterMetrics (metrics::FamilyFactory *family_factory)
Private Member Functions
std::unique_ptr< MatchingResult >	AddAccumulatedRangeData (common::Time time, const sensor::RangeData &gravity_aligned_range_data, const transform::Rigid3d &gravity_alignment, const absl::optional< common::Duration > &sensor_duration)
void	InitializeExtrapolator (common::Time time)
std::unique_ptr< InsertionResult >	InsertIntoSubmap (common::Time time, const sensor::RangeData &range_data_in_local, const sensor::PointCloud &filtered_gravity_aligned_point_cloud, const transform::Rigid3d &pose_estimate, const Eigen::Quaterniond &gravity_alignment)
std::unique_ptr < transform::Rigid2d >	ScanMatch (common::Time time, const transform::Rigid2d &pose_prediction, const sensor::PointCloud &filtered_gravity_aligned_point_cloud)
sensor::RangeData	TransformToGravityAlignedFrameAndFilter (const transform::Rigid3f &transform_to_gravity_aligned_frame, const sensor::RangeData &range_data) const
Private Attributes
sensor::RangeData	accumulated_range_data_
ActiveSubmaps2D	active_submaps_
scan_matching::CeresScanMatcher2D	ceres_scan_matcher_
std::unique_ptr< PoseExtrapolator >	extrapolator_
absl::optional< common::Time >	last_sensor_time_
absl::optional< double >	last_thread_cpu_time_seconds_
absl::optional < std::chrono::steady_clock::time_point >	last_wall_time_
MotionFilter	motion_filter_
int	num_accumulated_ = 0
const proto::LocalTrajectoryBuilderOptions2D	options_
RangeDataCollator	range_data_collator_
scan_matching::RealTimeCorrelativeScanMatcher2D	real_time_correlative_scan_matcher_

Detailed Description

Definition at line 44 of file local_trajectory_builder_2d.h.

Constructor & Destructor Documentation

cartographer::mapping::LocalTrajectoryBuilder2D::LocalTrajectoryBuilder2D	(	const proto::LocalTrajectoryBuilderOptions2D &	options,
		const std::vector< std::string > &	expected_range_sensor_ids
	)		`[explicit]`

Definition at line 38 of file local_trajectory_builder_2d.cc.

cartographer::mapping::LocalTrajectoryBuilder2D::~LocalTrajectoryBuilder2D ( )

Definition at line 49 of file local_trajectory_builder_2d.cc.

cartographer::mapping::LocalTrajectoryBuilder2D::LocalTrajectoryBuilder2D ( const LocalTrajectoryBuilder2D & )

Member Function Documentation

std::unique_ptr< LocalTrajectoryBuilder2D::MatchingResult > cartographer::mapping::LocalTrajectoryBuilder2D::AddAccumulatedRangeData	(	common::Time	time,
		const sensor::RangeData &	gravity_aligned_range_data,
		const transform::Rigid3d &	gravity_alignment,
		const absl::optional< common::Duration > &	sensor_duration
	)		`[private]`

Definition at line 212 of file local_trajectory_builder_2d.cc.

void cartographer::mapping::LocalTrajectoryBuilder2D::AddImuData ( const sensor::ImuData & imu_data )

Definition at line 302 of file local_trajectory_builder_2d.cc.

void cartographer::mapping::LocalTrajectoryBuilder2D::AddOdometryData ( const sensor::OdometryData & odometry_data )

Definition at line 308 of file local_trajectory_builder_2d.cc.

std::unique_ptr< LocalTrajectoryBuilder2D::MatchingResult > cartographer::mapping::LocalTrajectoryBuilder2D::AddRangeData	(	const std::string &	sensor_id,
		const sensor::TimedPointCloudData &	range_data
	)

Definition at line 105 of file local_trajectory_builder_2d.cc.

void cartographer::mapping::LocalTrajectoryBuilder2D::InitializeExtrapolator ( common::Time time ) [private]

Definition at line 318 of file local_trajectory_builder_2d.cc.

std::unique_ptr< LocalTrajectoryBuilder2D::InsertionResult > cartographer::mapping::LocalTrajectoryBuilder2D::InsertIntoSubmap	(	common::Time	time,
		const sensor::RangeData &	range_data_in_local,
		const sensor::PointCloud &	filtered_gravity_aligned_point_cloud,
		const transform::Rigid3d &	pose_estimate,
		const Eigen::Quaterniond &	gravity_alignment
	)		`[private]`

Definition at line 280 of file local_trajectory_builder_2d.cc.

LocalTrajectoryBuilder2D& cartographer::mapping::LocalTrajectoryBuilder2D::operator= ( const LocalTrajectoryBuilder2D & )

void cartographer::mapping::LocalTrajectoryBuilder2D::RegisterMetrics ( metrics::FamilyFactory * family_factory ) [static]

Definition at line 333 of file local_trajectory_builder_2d.cc.

std::unique_ptr< transform::Rigid2d > cartographer::mapping::LocalTrajectoryBuilder2D::ScanMatch	(	common::Time	time,
		const transform::Rigid2d &	pose_prediction,
		const sensor::PointCloud &	filtered_gravity_aligned_point_cloud
	)		`[private]`

Definition at line 65 of file local_trajectory_builder_2d.cc.

sensor::RangeData cartographer::mapping::LocalTrajectoryBuilder2D::TransformToGravityAlignedFrameAndFilter	(	const transform::Rigid3f &	transform_to_gravity_aligned_frame,
		const sensor::RangeData &	range_data
	)		const `[private]`