#include <collated_trajectory_builder.h>

Inheritance diagram for cartographer::mapping::CollatedTrajectoryBuilder:

Public Types
using	SensorId = TrajectoryBuilderInterface::SensorId

Public Types inherited from cartographer::mapping::TrajectoryBuilderInterface
using	LocalSlamResultCallback = std::function< void(int, common::Time, transform::Rigid3d, sensor::RangeData, std::unique_ptr< const InsertionResult >)>

Public Member Functions
void	AddLocalSlamResultData (std::unique_ptr< mapping::LocalSlamResultData > local_slam_result_data) override

void	AddSensorData (const std::string &sensor_id, const sensor::TimedPointCloudData &timed_point_cloud_data) override

void	AddSensorData (const std::string &sensor_id, const sensor::ImuData &imu_data) override

void	AddSensorData (const std::string &sensor_id, const sensor::OdometryData &odometry_data) override

void	AddSensorData (const std::string &sensor_id, const sensor::FixedFramePoseData &fixed_frame_pose_data) override

void	AddSensorData (const std::string &sensor_id, const sensor::LandmarkData &landmark_data) override

	CollatedTrajectoryBuilder (sensor::CollatorInterface *sensor_collator, int trajectory_id, const std::set< SensorId > &expected_sensor_ids, std::unique_ptr< TrajectoryBuilderInterface > wrapped_trajectory_builder)

	CollatedTrajectoryBuilder (const CollatedTrajectoryBuilder &)=delete

CollatedTrajectoryBuilder &	operator= (const CollatedTrajectoryBuilder &)=delete

	~CollatedTrajectoryBuilder () override

Public Member Functions inherited from cartographer::mapping::TrajectoryBuilderInterface
TrajectoryBuilderInterface &	operator= (const TrajectoryBuilderInterface &)=delete

	TrajectoryBuilderInterface ()

	TrajectoryBuilderInterface (const TrajectoryBuilderInterface &)=delete

virtual	~TrajectoryBuilderInterface ()

Private Member Functions
void	AddData (std::unique_ptr< sensor::Data > data)

void	HandleCollatedSensorData (const std::string &sensor_id, std::unique_ptr< sensor::Data > data)

Private Attributes
std::chrono::steady_clock::time_point	last_logging_time_

std::map< std::string, common::RateTimer<> >	rate_timers_

sensor::CollatorInterface *const	sensor_collator_

const int	trajectory_id_

std::unique_ptr< TrajectoryBuilderInterface >	wrapped_trajectory_builder_

Detailed Description

Definition at line 39 of file collated_trajectory_builder.h.

Member Typedef Documentation

◆ SensorId

using cartographer::mapping::CollatedTrajectoryBuilder::SensorId = TrajectoryBuilderInterface::SensorId

Definition at line 41 of file collated_trajectory_builder.h.

Constructor & Destructor Documentation

◆ CollatedTrajectoryBuilder() [1/2]

cartographer::mapping::CollatedTrajectoryBuilder::CollatedTrajectoryBuilder	(	sensor::CollatorInterface *	sensor_collator,
		int	trajectory_id,
		const std::set< SensorId > &	expected_sensor_ids,
		std::unique_ptr< TrajectoryBuilderInterface >	wrapped_trajectory_builder
	)

Definition at line 31 of file collated_trajectory_builder.cc.

◆ ~CollatedTrajectoryBuilder()

cartographer::mapping::CollatedTrajectoryBuilder::~CollatedTrajectoryBuilder ( )

override

Definition at line 50 of file collated_trajectory_builder.cc.

◆ CollatedTrajectoryBuilder() [2/2]

cartographer::mapping::CollatedTrajectoryBuilder::CollatedTrajectoryBuilder ( const CollatedTrajectoryBuilder & )

delete

Member Function Documentation

◆ AddData()

void cartographer::mapping::CollatedTrajectoryBuilder::AddData ( std::unique_ptr< sensor::Data > data )

private

Definition at line 52 of file collated_trajectory_builder.cc.

◆ AddLocalSlamResultData()

void cartographer::mapping::CollatedTrajectoryBuilder::AddLocalSlamResultData ( std::unique_ptr< mapping::LocalSlamResultData > local_slam_result_data )

inlineoverridevirtual

Implements cartographer::mapping::TrajectoryBuilderInterface.

Definition at line 80 of file collated_trajectory_builder.h.

◆ AddSensorData() [1/5]

void cartographer::mapping::CollatedTrajectoryBuilder::AddSensorData	(	const std::string &	sensor_id,
		const sensor::TimedPointCloudData &	timed_point_cloud_data
	)

inlineoverridevirtual

Implements cartographer::mapping::TrajectoryBuilderInterface.

Definition at line 53 of file collated_trajectory_builder.h.

◆ AddSensorData() [2/5]

void cartographer::mapping::CollatedTrajectoryBuilder::AddSensorData	(	const std::string &	sensor_id,
		const sensor::ImuData &	imu_data
	)

inlineoverridevirtual

Implements cartographer::mapping::TrajectoryBuilderInterface.

Definition at line 59 of file collated_trajectory_builder.h.

◆ AddSensorData() [3/5]

void cartographer::mapping::CollatedTrajectoryBuilder::AddSensorData	(	const std::string &	sensor_id,
		const sensor::OdometryData &	odometry_data
	)

inlineoverridevirtual

Implements cartographer::mapping::TrajectoryBuilderInterface.

Definition at line 64 of file collated_trajectory_builder.h.

◆ AddSensorData() [4/5]

void cartographer::mapping::CollatedTrajectoryBuilder::AddSensorData	(	const std::string &	sensor_id,
		const sensor::FixedFramePoseData &	fixed_frame_pose_data
	)