Class FiniteRoomMapper

Inheritance Relationships

Base Type

Class Documentation

class FiniteRoomMapper : public s_graphs::MapperUtils

Public Functions

FiniteRoomMapper(const rclcpp::Node::SharedPtr node)

Constructor of class FiniteRoomMapper.

Parameters:

private_nh –

~FiniteRoomMapper()
bool lookup_rooms(std::shared_ptr<GraphSLAM> &graph_slam, const situational_graphs_msgs::msg::RoomData room_data, const std::unordered_map<int, VerticalPlanes> &x_vert_planes, const std::unordered_map<int, VerticalPlanes> &y_vert_planes, std::deque<std::pair<VerticalPlanes, VerticalPlanes>> &dupl_x_vert_planes, std::deque<std::pair<VerticalPlanes, VerticalPlanes>> &dupl_y_vert_planes, std::unordered_map<int, InfiniteRooms> &x_infinite_rooms, std::unordered_map<int, InfiniteRooms> &y_infinite_rooms, std::unordered_map<int, Rooms> &rooms_vec, int &room_id)
Parameters:

  • graph_slam –

  • room_data –

  • x_vert_planes –

  • y_vert_planes –

  • dupl_x_vert_planes –

  • dupl_y_vert_planes –

  • x_infinite_rooms –

  • y_infinite_rooms –

  • rooms_vec –

double room_measurement(const int &plane_type, const Eigen::Vector2d &room_pose, const Eigen::Vector4d &plane)
Parameters:

  • plane_type –

  • room_pose –

  • plane –

Returns: