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)

	LocalTrajectoryBuilder3D (const mapping::proto::LocalTrajectoryBuilderOptions3D &options, const std::vector< std::string > &expected_range_sensor_ids)

	LocalTrajectoryBuilder3D (const LocalTrajectoryBuilder3D &)=delete

LocalTrajectoryBuilder3D &	operator= (const LocalTrajectoryBuilder3D &)=delete

	~LocalTrajectoryBuilder3D ()

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 &filtered_range_data_in_tracking)

std::unique_ptr< InsertionResult >	InsertIntoSubmap (common::Time time, const sensor::RangeData &filtered_range_data_in_local, const sensor::RangeData &filtered_range_data_in_tracking, const sensor::PointCloud &high_resolution_point_cloud_in_tracking, const sensor::PointCloud &low_resolution_point_cloud_in_tracking, const transform::Rigid3d &pose_estimate, const Eigen::Quaterniond &gravity_alignment)

Private Attributes
sensor::RangeData	accumulated_range_data_

std::chrono::steady_clock::time_point	accumulation_started_

mapping::ActiveSubmaps3D	active_submaps_

std::unique_ptr< scan_matching::CeresScanMatcher3D >	ceres_scan_matcher_

std::unique_ptr< mapping::PoseExtrapolator >	extrapolator_

mapping::MotionFilter	motion_filter_

int	num_accumulated_ = 0

const mapping::proto::LocalTrajectoryBuilderOptions3D	options_

RangeDataCollator	range_data_collator_

std::unique_ptr< scan_matching::RealTimeCorrelativeScanMatcher3D >	real_time_correlative_scan_matcher_

Detailed Description

Constructor & Destructor Documentation

cartographer::mapping::LocalTrajectoryBuilder3D::LocalTrajectoryBuilder3D	(	const mapping::proto::LocalTrajectoryBuilderOptions3D &	options,
		const std::vector< std::string > &	expected_range_sensor_ids
	)

explicit

cartographer::mapping::LocalTrajectoryBuilder3D::~LocalTrajectoryBuilder3D ( )

cartographer::mapping::LocalTrajectoryBuilder3D::LocalTrajectoryBuilder3D ( const LocalTrajectoryBuilder3D & )

delete

std::unique_ptr< LocalTrajectoryBuilder3D::MatchingResult > cartographer::mapping::LocalTrajectoryBuilder3D::AddAccumulatedRangeData	(	common::Time	time,
		const sensor::RangeData &	filtered_range_data_in_tracking
	)

private

void cartographer::mapping::LocalTrajectoryBuilder3D::AddImuData ( const sensor::ImuData & imu_data )

void cartographer::mapping::LocalTrajectoryBuilder3D::AddOdometryData ( const sensor::OdometryData & odometry_data )

std::unique_ptr< LocalTrajectoryBuilder3D::MatchingResult > cartographer::mapping::LocalTrajectoryBuilder3D::AddRangeData	(	const std::string &	sensor_id,
		const sensor::TimedPointCloudData &	range_data
	)

std::unique_ptr< LocalTrajectoryBuilder3D::InsertionResult > cartographer::mapping::LocalTrajectoryBuilder3D::InsertIntoSubmap	(	common::Time	time,
		const sensor::RangeData &	filtered_range_data_in_local,
		const sensor::RangeData &	filtered_range_data_in_tracking,
		const sensor::PointCloud &	high_resolution_point_cloud_in_tracking,
		const sensor::PointCloud &	low_resolution_point_cloud_in_tracking,
		const transform::Rigid3d &	pose_estimate,
		const Eigen::Quaterniond &	gravity_alignment
	)