Class MapperUtils

• Defined in File room_mapper.hpp

Inheritance Relationships

Derived Types

• public s_graphs::FiniteRoomMapper (Class FiniteRoomMapper)

• public s_graphs::InfiniteRoomMapper (Class InfiniteRoomMapper)

Class Documentation

class MapperUtils

Subclassed by s_graphs::FiniteRoomMapper, s_graphs::InfiniteRoomMapper

Public Functions

inline MapperUtils()

Constructor of the class MapperUtils.

Param :

inline float point_difference(int plane_type, pcl::PointXY p1, pcl::PointXY p2)

Parameters:

• plane_type –

• p1 –

• p2 –

Returns:

inline void parallel_plane_constraint(std::shared_ptr<GraphSLAM> &graph_slam, g2o::VertexPlane *plane1_node, g2o::VertexPlane *plane2_node)

This method add parallel constraint between the planes of rooms or infinite_rooms.

Parameters:

• graph_slam –

• plane1_node –

• plane2_node –

inline void perpendicular_plane_constraint(std::shared_ptr<GraphSLAM> &graph_slam, g2o::VertexPlane *plane1_node, g2o::VertexPlane *plane2_node)

This method adds perpendicular constraint between the planes of rooms or infinite_rooms.

Parameters:

graph_slam – @pram plane1_node @pram plane2_node

inline bool check_plane_ids(const std::set<g2o::HyperGraph::Edge*> &plane_edges, const g2o::VertexPlane *plane_node)