#include <map_builder.h>

Inheritance diagram for cartographer::mapping::MapBuilder:

Public Member Functions
int	AddTrajectoryBuilder (const std::set< SensorId > &expected_sensor_ids, const proto::TrajectoryBuilderOptions &trajectory_options, LocalSlamResultCallback local_slam_result_callback) override

int	AddTrajectoryForDeserialization (const proto::TrajectoryBuilderOptionsWithSensorIds &options_with_sensor_ids_proto) override

void	FinishTrajectory (int trajectory_id) override

const std::vector< proto::TrajectoryBuilderOptionsWithSensorIds > &	GetAllTrajectoryBuilderOptions () const override

mapping::TrajectoryBuilderInterface *	GetTrajectoryBuilder (int trajectory_id) const override

void	LoadState (io::ProtoStreamReaderInterface *reader, bool load_frozen_state) override

	MapBuilder (const proto::MapBuilderOptions &options)

	MapBuilder (const MapBuilder &)=delete

int	num_trajectory_builders () const override

MapBuilder &	operator= (const MapBuilder &)=delete

mapping::PoseGraphInterface *	pose_graph () override

void	SerializeState (io::ProtoStreamWriterInterface *writer) override

std::string	SubmapToProto (const SubmapId &submap_id, proto::SubmapQuery::Response *response) override

	~MapBuilder () override

Public Member Functions inherited from cartographer::mapping::MapBuilderInterface
	MapBuilderInterface ()

	MapBuilderInterface (const MapBuilderInterface &)=delete

MapBuilderInterface &	operator= (const MapBuilderInterface &)=delete

virtual	~MapBuilderInterface ()

Private Attributes
std::vector< proto::TrajectoryBuilderOptionsWithSensorIds >	all_trajectory_builder_options_

const proto::MapBuilderOptions	options_

std::unique_ptr< PoseGraph >	pose_graph_

std::unique_ptr< sensor::CollatorInterface >	sensor_collator_

common::ThreadPool	thread_pool_

std::vector< std::unique_ptr< mapping::TrajectoryBuilderInterface > >	trajectory_builders_

Additional Inherited Members
Public Types inherited from cartographer::mapping::MapBuilderInterface
using	LocalSlamResultCallback = TrajectoryBuilderInterface::LocalSlamResultCallback

using	SensorId = TrajectoryBuilderInterface::SensorId

Detailed Description

Definition at line 37 of file map_builder.h.

Constructor & Destructor Documentation

◆ MapBuilder() [1/2]

cartographer::mapping::MapBuilder::MapBuilder ( const proto::MapBuilderOptions & options )

explicit

Definition at line 73 of file map_builder.cc.

◆ ~MapBuilder()

cartographer::mapping::MapBuilder::~MapBuilder ( )

inlineoverride

Definition at line 40 of file map_builder.h.

◆ MapBuilder() [2/2]

cartographer::mapping::MapBuilder::MapBuilder ( const MapBuilder & )

delete

Member Function Documentation

◆ AddTrajectoryBuilder()

int cartographer::mapping::MapBuilder::AddTrajectoryBuilder	(	const std::set< SensorId > &	expected_sensor_ids,
		const proto::TrajectoryBuilderOptions &	trajectory_options,
		LocalSlamResultCallback	local_slam_result_callback
	)

overridevirtual

Implements cartographer::mapping::MapBuilderInterface.

Definition at line 98 of file map_builder.cc.

◆ AddTrajectoryForDeserialization()

int cartographer::mapping::MapBuilder::AddTrajectoryForDeserialization ( const proto::TrajectoryBuilderOptionsWithSensorIds & options_with_sensor_ids_proto )

overridevirtual

Implements cartographer::mapping::MapBuilderInterface.

Definition at line 171 of file map_builder.cc.

◆ FinishTrajectory()

void cartographer::mapping::MapBuilder::FinishTrajectory ( int trajectory_id )

overridevirtual

Implements cartographer::mapping::MapBuilderInterface.

Definition at line 181 of file map_builder.cc.

◆ GetAllTrajectoryBuilderOptions()

const std::vector<proto::TrajectoryBuilderOptionsWithSensorIds>& cartographer::mapping::MapBuilder::GetAllTrajectoryBuilderOptions ( ) const

inlineoverridevirtual

Implements cartographer::mapping::MapBuilderInterface.

Definition at line 78 of file map_builder.h.

◆ GetTrajectoryBuilder()

mapping::TrajectoryBuilderInterface* cartographer::mapping::MapBuilder::GetTrajectoryBuilder ( int trajectory_id ) const

inlineoverridevirtual

Implements cartographer::mapping::MapBuilderInterface.

Definition at line 72 of file map_builder.h.

◆ LoadState()

void cartographer::mapping::MapBuilder::LoadState	(	io::ProtoStreamReaderInterface *	reader,
		bool	load_frozen_state
	)

overridevirtual

Implements cartographer::mapping::MapBuilderInterface.

Definition at line 209 of file map_builder.cc.

◆ num_trajectory_builders()

int cartographer::mapping::MapBuilder::num_trajectory_builders ( ) const

inlineoverridevirtual

Implements cartographer::mapping::MapBuilderInterface.

Definition at line 68 of file map_builder.h.

◆ operator=()

MapBuilder& cartographer::mapping::MapBuilder::operator= ( const MapBuilder & )

delete

◆ pose_graph()

mapping::PoseGraphInterface* cartographer::mapping::MapBuilder::pose_graph ( )

inlineoverridevirtual

Implements cartographer::mapping::MapBuilderInterface.

Definition at line 64 of file map_builder.h.

◆ SerializeState()

void cartographer::mapping::MapBuilder::SerializeState ( io::ProtoStreamWriterInterface * writer )

overridevirtual

Implements cartographer::mapping::MapBuilderInterface.

Definition at line 205 of file map_builder.cc.

◆ SubmapToProto()

std::string cartographer::mapping::MapBuilder::SubmapToProto	(	const SubmapId &	submap_id,
		proto::SubmapQuery::Response *	response
	)

overridevirtual

Implements cartographer::mapping::MapBuilderInterface.

Definition at line 186 of file map_builder.cc.

Member Data Documentation

◆ all_trajectory_builder_options_

std::vector<proto::TrajectoryBuilderOptionsWithSensorIds> cartographer::mapping::MapBuilder::all_trajectory_builder_options_

private

Definition at line 92 of file map_builder.h.

◆ options_

const proto::MapBuilderOptions cartographer::mapping::MapBuilder::options_

private

Definition at line 83 of file map_builder.h.

◆ pose_graph_

std::unique_ptr<PoseGraph> cartographer::mapping::MapBuilder::pose_graph_

private

Definition at line 86 of file map_builder.h.

◆ sensor_collator_

std::unique_ptr<sensor::CollatorInterface> cartographer::mapping::MapBuilder::sensor_collator_

private

Definition at line 88 of file map_builder.h.

◆ thread_pool_

common::ThreadPool cartographer::mapping::MapBuilder::thread_pool_

private

Definition at line 84 of file map_builder.h.

◆ trajectory_builders_

std::vector<std::unique_ptr<mapping::TrajectoryBuilderInterface> > cartographer::mapping::MapBuilder::trajectory_builders_

private

Definition at line 90 of file map_builder.h.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MapBuilder() [1/2]

◆ ~MapBuilder()

◆ MapBuilder() [2/2]

Member Function Documentation

◆ AddTrajectoryBuilder()

◆ AddTrajectoryForDeserialization()

◆ FinishTrajectory()

◆ GetAllTrajectoryBuilderOptions()

◆ GetTrajectoryBuilder()

◆ LoadState()

◆ num_trajectory_builders()

◆ operator=()

◆ pose_graph()

◆ SerializeState()

◆ SubmapToProto()

Member Data Documentation

◆ all_trajectory_builder_options_

◆ options_

◆ pose_graph_

◆ sensor_collator_

◆ thread_pool_

◆ trajectory_builders_