#include <pose_graph.h>

Inheritance diagram for cartographer::mapping::PoseGraph:

Classes
struct	InitialTrajectoryPose

Public Member Functions
virtual void	AddFixedFramePoseData (int trajectory_id, const sensor::FixedFramePoseData &fixed_frame_pose_data)=0

virtual void	AddImuData (int trajectory_id, const sensor::ImuData &imu_data)=0

virtual void	AddLandmarkData (int trajectory_id, const sensor::LandmarkData &landmark_data)=0

virtual void	AddNodeFromProto (const transform::Rigid3d &global_pose, const proto::Node &node)=0

virtual void	AddNodeToSubmap (const NodeId &node_id, const SubmapId &submap_id)=0

virtual void	AddOdometryData (int trajectory_id, const sensor::OdometryData &odometry_data)=0

virtual void	AddSerializedConstraints (const std::vector< Constraint > &constraints)=0

virtual void	AddSubmapFromProto (const transform::Rigid3d &global_pose, const proto::Submap &submap)=0

virtual void	AddTrimmer (std::unique_ptr< PoseGraphTrimmer > trimmer)=0

virtual void	FinishTrajectory (int trajectory_id)=0

virtual void	FreezeTrajectory (int trajectory_id)=0

virtual std::vector< std::vector< int > >	GetConnectedTrajectories () const =0

virtual sensor::MapByTime< sensor::FixedFramePoseData >	GetFixedFramePoseData () const =0

virtual sensor::MapByTime< sensor::ImuData >	GetImuData () const =0

virtual std::map< std::string, PoseGraph::LandmarkNode >	GetLandmarkNodes () const =0

virtual sensor::MapByTime< sensor::OdometryData >	GetOdometryData () const =0

virtual SubmapData	GetSubmapData (const SubmapId &submap_id) const =0

PoseGraph &	operator= (const PoseGraph &)=delete

	PoseGraph ()

	PoseGraph (const PoseGraph &)=delete

virtual void	SetInitialTrajectoryPose (int from_trajectory_id, int to_trajectory_id, const transform::Rigid3d &pose, const common::Time time)=0

virtual void	SetTrajectoryDataFromProto (const mapping::proto::TrajectoryData &data)=0

proto::PoseGraph	ToProto () const override

	~PoseGraph () override

Public Member Functions inherited from cartographer::mapping::PoseGraphInterface
virtual std::vector< Constraint >	constraints () const =0

virtual MapById< SubmapId, SubmapData >	GetAllSubmapData () const =0

virtual MapById< SubmapId, SubmapPose >	GetAllSubmapPoses () const =0

virtual std::map< std::string, transform::Rigid3d >	GetLandmarkPoses () const =0

virtual transform::Rigid3d	GetLocalToGlobalTransform (int trajectory_id) const =0

virtual std::map< int, TrajectoryData >	GetTrajectoryData () const =0

virtual MapById< NodeId, TrajectoryNodePose >	GetTrajectoryNodePoses () const =0

virtual MapById< NodeId, TrajectoryNode >	GetTrajectoryNodes () const =0

virtual bool	IsTrajectoryFinished (int trajectory_id) const =0

virtual bool	IsTrajectoryFrozen (int trajectory_id) const =0

PoseGraphInterface &	operator= (const PoseGraphInterface &)=delete

	PoseGraphInterface ()

	PoseGraphInterface (const PoseGraphInterface &)=delete

virtual void	RunFinalOptimization ()=0

virtual void	SetGlobalSlamOptimizationCallback (GlobalSlamOptimizationCallback callback)=0

virtual void	SetLandmarkPose (const std::string &landmark_id, const transform::Rigid3d &global_pose)=0

virtual	~PoseGraphInterface ()

Additional Inherited Members
Public Types inherited from cartographer::mapping::PoseGraphInterface
using	GlobalSlamOptimizationCallback = std::function< void(const std::map< int, SubmapId > &, const std::map< int, NodeId > &)>

Detailed Description

Definition at line 47 of file pose_graph.h.

Constructor & Destructor Documentation

◆ PoseGraph() [1/2]

cartographer::mapping::PoseGraph::PoseGraph ( )

inline

Definition at line 55 of file pose_graph.h.

◆ ~PoseGraph()

cartographer::mapping::PoseGraph::~PoseGraph ( )

inlineoverride

Definition at line 56 of file pose_graph.h.

◆ PoseGraph() [2/2]

cartographer::mapping::PoseGraph::PoseGraph ( const PoseGraph & )

delete

Member Function Documentation

◆ AddFixedFramePoseData()

virtual void cartographer::mapping::PoseGraph::AddFixedFramePoseData	(	int	trajectory_id,
		const sensor::FixedFramePoseData &	fixed_frame_pose_data
	)

pure virtual

Implemented in cartographer::mapping::PoseGraph2D, and cartographer::mapping::PoseGraph3D.

◆ AddImuData()

virtual void cartographer::mapping::PoseGraph::AddImuData	(	int	trajectory_id,
		const sensor::ImuData &	imu_data
	)

pure virtual

Implemented in cartographer::mapping::PoseGraph2D, and cartographer::mapping::PoseGraph3D.

◆ AddLandmarkData()

virtual void cartographer::mapping::PoseGraph::AddLandmarkData	(	int	trajectory_id,
		const sensor::LandmarkData &	landmark_data
	)

pure virtual

Implemented in cartographer::mapping::PoseGraph2D, and cartographer::mapping::PoseGraph3D.

◆ AddNodeFromProto()

virtual void cartographer::mapping::PoseGraph::AddNodeFromProto	(	const transform::Rigid3d &	global_pose,
		const proto::Node &	node
	)

pure virtual

Implemented in cartographer::mapping::PoseGraph2D, and cartographer::mapping::PoseGraph3D.

◆ AddNodeToSubmap()

virtual void cartographer::mapping::PoseGraph::AddNodeToSubmap	(	const NodeId &	node_id,
		const SubmapId &	submap_id
	)

pure virtual

Implemented in cartographer::mapping::PoseGraph2D, and cartographer::mapping::PoseGraph3D.

◆ AddOdometryData()

virtual void cartographer::mapping::PoseGraph::AddOdometryData	(	int	trajectory_id,
		const sensor::OdometryData &	odometry_data
	)

pure virtual

Implemented in cartographer::mapping::PoseGraph2D, and cartographer::mapping::PoseGraph3D.

◆ AddSerializedConstraints()

virtual void cartographer::mapping::PoseGraph::AddSerializedConstraints ( const std::vector< Constraint > & constraints )

pure virtual

Implemented in cartographer::mapping::PoseGraph2D, and cartographer::mapping::PoseGraph3D.

◆ AddSubmapFromProto()

virtual void cartographer::mapping::PoseGraph::AddSubmapFromProto	(	const transform::Rigid3d &	global_pose,
		const proto::Submap &	submap
	)

pure virtual

Implemented in cartographer::mapping::PoseGraph2D, and cartographer::mapping::PoseGraph3D.

◆ AddTrimmer()

virtual void cartographer::mapping::PoseGraph::AddTrimmer ( std::unique_ptr< PoseGraphTrimmer > trimmer )

pure virtual

Implemented in cartographer::mapping::PoseGraph2D, and cartographer::mapping::PoseGraph3D.

◆ FinishTrajectory()

virtual void cartographer::mapping::PoseGraph::FinishTrajectory ( int trajectory_id )

pure virtual

Implemented in cartographer::mapping::PoseGraph2D, and cartographer::mapping::PoseGraph3D.

◆ FreezeTrajectory()

virtual void cartographer::mapping::PoseGraph::FreezeTrajectory ( int trajectory_id )

pure virtual

Implemented in cartographer::mapping::PoseGraph2D, and cartographer::mapping::PoseGraph3D.

◆ GetConnectedTrajectories()

virtual std::vector<std::vector<int> > cartographer::mapping::PoseGraph::GetConnectedTrajectories ( ) const

pure virtual

Implemented in cartographer::mapping::PoseGraph2D, and cartographer::mapping::PoseGraph3D.

◆ GetFixedFramePoseData()

virtual sensor::MapByTime<sensor::FixedFramePoseData> cartographer::mapping::PoseGraph::GetFixedFramePoseData ( ) const

pure virtual

Implemented in cartographer::mapping::PoseGraph2D, and cartographer::mapping::PoseGraph3D.

◆ GetImuData()

virtual sensor::MapByTime<sensor::ImuData> cartographer::mapping::PoseGraph::GetImuData ( ) const

pure virtual

Implemented in cartographer::mapping::PoseGraph2D, and cartographer::mapping::PoseGraph3D.

◆ GetLandmarkNodes()

virtual std::map<std::string , PoseGraph::LandmarkNode> cartographer::mapping::PoseGraph::GetLandmarkNodes ( ) const

pure virtual

Implemented in cartographer::mapping::PoseGraph2D, and cartographer::mapping::PoseGraph3D.

◆ GetOdometryData()

virtual sensor::MapByTime<sensor::OdometryData> cartographer::mapping::PoseGraph::GetOdometryData ( ) const

pure virtual

Implemented in cartographer::mapping::PoseGraph2D, and cartographer::mapping::PoseGraph3D.

◆ GetSubmapData()

virtual SubmapData cartographer::mapping::PoseGraph::GetSubmapData ( const SubmapId & submap_id ) const

pure virtual

Implemented in cartographer::mapping::PoseGraph2D, and cartographer::mapping::PoseGraph3D.

◆ operator=()

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

delete

◆ SetInitialTrajectoryPose()

virtual void cartographer::mapping::PoseGraph::SetInitialTrajectoryPose	(	int	from_trajectory_id,
		int	to_trajectory_id,
		const transform::Rigid3d &	pose,
		const common::Time	time
	)

pure virtual

Implemented in cartographer::mapping::PoseGraph2D, and cartographer::mapping::PoseGraph3D.

◆ SetTrajectoryDataFromProto()

virtual void cartographer::mapping::PoseGraph::SetTrajectoryDataFromProto ( const mapping::proto::TrajectoryData & data )

pure virtual

◆ ToProto()

proto::PoseGraph cartographer::mapping::PoseGraph::ToProto ( ) const

overridevirtual

Implements cartographer::mapping::PoseGraphInterface.

Definition at line 118 of file pose_graph.cc.

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

Classes

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PoseGraph() [1/2]

◆ ~PoseGraph()

◆ PoseGraph() [2/2]

Member Function Documentation

◆ AddFixedFramePoseData()

◆ AddImuData()

◆ AddLandmarkData()

◆ AddNodeFromProto()

◆ AddNodeToSubmap()

◆ AddOdometryData()

◆ AddSerializedConstraints()

◆ AddSubmapFromProto()

◆ AddTrimmer()

◆ FinishTrajectory()

◆ FreezeTrajectory()

◆ GetConnectedTrajectories()

◆ GetFixedFramePoseData()

◆ GetImuData()

◆ GetLandmarkNodes()

◆ GetOdometryData()

◆ GetSubmapData()

◆ operator=()

◆ SetInitialTrajectoryPose()

◆ SetTrajectoryDataFromProto()

◆ ToProto()