Classes | Public Member Functions | Static Public Member Functions | Private Member Functions | Private Attributes | List of all members
cartographer::mapping::LocalTrajectoryBuilder2D Class Reference

#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 &)=delete
 
LocalTrajectoryBuilder2D & operator= (const LocalTrajectoryBuilder2D &)=delete
 
 ~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)
 
void InitializeExtrapolator (common::Time time)
 
std::unique_ptr< InsertionResult > InsertIntoSubmap (common::Time time, const sensor::RangeData &range_data_in_local, const sensor::RangeData &gravity_aligned_range_data, 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::RangeData &gravity_aligned_range_data)
 
sensor::RangeData TransformToGravityAlignedFrameAndFilter (const transform::Rigid3f &transform_to_gravity_aligned_frame, const sensor::RangeData &range_data) const
 

Private Attributes

sensor::RangeData accumulated_range_data_
 
std::chrono::steady_clock::time_point accumulation_started_
 
ActiveSubmaps2D active_submaps_
 
scan_matching::CeresScanMatcher2D ceres_scan_matcher_
 
std::unique_ptr< PoseExtrapolator > extrapolator_
 
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

◆ LocalTrajectoryBuilder2D() [1/2]

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

Definition at line 36 of file local_trajectory_builder_2d.cc.

◆ ~LocalTrajectoryBuilder2D()

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

Definition at line 47 of file local_trajectory_builder_2d.cc.

◆ LocalTrajectoryBuilder2D() [2/2]

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

Member Function Documentation

◆ AddAccumulatedRangeData()

std::unique_ptr< LocalTrajectoryBuilder2D::MatchingResult > cartographer::mapping::LocalTrajectoryBuilder2D::AddAccumulatedRangeData ( common::Time  time,
const sensor::RangeData &  gravity_aligned_range_data,
const transform::Rigid3d &  gravity_alignment 
)
private

Definition at line 210 of file local_trajectory_builder_2d.cc.

◆ AddImuData()

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

Definition at line 285 of file local_trajectory_builder_2d.cc.

◆ AddOdometryData()

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

Definition at line 291 of file local_trajectory_builder_2d.cc.

◆ AddRangeData()

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

Definition at line 108 of file local_trajectory_builder_2d.cc.

◆ InitializeExtrapolator()

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

Definition at line 301 of file local_trajectory_builder_2d.cc.

◆ InsertIntoSubmap()

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

Definition at line 251 of file local_trajectory_builder_2d.cc.

◆ operator=()

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

◆ RegisterMetrics()

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

Definition at line 316 of file local_trajectory_builder_2d.cc.

◆ ScanMatch()

std::unique_ptr< transform::Rigid2d > cartographer::mapping::LocalTrajectoryBuilder2D::ScanMatch ( common::Time  time,
const transform::Rigid2d &  pose_prediction,
const sensor::RangeData &  gravity_aligned_range_data 
)
private

Definition at line 63 of file local_trajectory_builder_2d.cc.

◆ TransformToGravityAlignedFrameAndFilter()

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

Definition at line 50 of file local_trajectory_builder_2d.cc.

Member Data Documentation

◆ accumulated_range_data_

sensor::RangeData cartographer::mapping::LocalTrajectoryBuilder2D::accumulated_range_data_
private

Definition at line 113 of file local_trajectory_builder_2d.h.

◆ accumulation_started_

std::chrono::steady_clock::time_point cartographer::mapping::LocalTrajectoryBuilder2D::accumulation_started_
private

Definition at line 114 of file local_trajectory_builder_2d.h.

◆ active_submaps_

ActiveSubmaps2D cartographer::mapping::LocalTrajectoryBuilder2D::active_submaps_
private

Definition at line 103 of file local_trajectory_builder_2d.h.

◆ ceres_scan_matcher_

scan_matching::CeresScanMatcher2D cartographer::mapping::LocalTrajectoryBuilder2D::ceres_scan_matcher_
private

Definition at line 108 of file local_trajectory_builder_2d.h.

◆ extrapolator_

std::unique_ptr<PoseExtrapolator> cartographer::mapping::LocalTrajectoryBuilder2D::extrapolator_
private

Definition at line 110 of file local_trajectory_builder_2d.h.

◆ motion_filter_

MotionFilter cartographer::mapping::LocalTrajectoryBuilder2D::motion_filter_
private

Definition at line 105 of file local_trajectory_builder_2d.h.

◆ num_accumulated_

int cartographer::mapping::LocalTrajectoryBuilder2D::num_accumulated_ = 0
private

Definition at line 112 of file local_trajectory_builder_2d.h.

◆ options_

const proto::LocalTrajectoryBuilderOptions2D cartographer::mapping::LocalTrajectoryBuilder2D::options_
private

Definition at line 102 of file local_trajectory_builder_2d.h.

◆ range_data_collator_

RangeDataCollator cartographer::mapping::LocalTrajectoryBuilder2D::range_data_collator_
private

Definition at line 116 of file local_trajectory_builder_2d.h.

◆ real_time_correlative_scan_matcher_

scan_matching::RealTimeCorrelativeScanMatcher2D cartographer::mapping::LocalTrajectoryBuilder2D::real_time_correlative_scan_matcher_
private

Definition at line 107 of file local_trajectory_builder_2d.h.

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

cartographer
Author(s): The Cartographer Authors
autogenerated on Mon Feb 28 2022 22:00:59