Classes | Public Member Functions | Private Types | Private Member Functions | Private Attributes | List of all members
cartographer::mapping::PoseGraph2D Class Referenceabstract

#include <pose_graph_2d.h>

Inheritance diagram for cartographer::mapping::PoseGraph2D:
Inheritance graph
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Classes

struct  InternalSubmapData
 
class  TrimmingHandle
 

Public Member Functions

void AddFixedFramePoseData (int trajectory_id, const sensor::FixedFramePoseData &fixed_frame_pose_data) override EXCLUDES(mutex_)
 
void AddImuData (int trajectory_id, const sensor::ImuData &imu_data) override EXCLUDES(mutex_)
 
void AddLandmarkData (int trajectory_id, const sensor::LandmarkData &landmark_data) override EXCLUDES(mutex_)
 
NodeId AddNode (std::shared_ptr< const TrajectoryNode::Data > constant_data, int trajectory_id, const std::vector< std::shared_ptr< const Submap2D >> &insertion_submaps) EXCLUDES(mutex_)
 
void AddNodeFromProto (const transform::Rigid3d &global_pose, const proto::Node &node) override
 
void AddNodeToSubmap (const NodeId &node_id, const SubmapId &submap_id) override
 
void AddOdometryData (int trajectory_id, const sensor::OdometryData &odometry_data) override EXCLUDES(mutex_)
 
void AddSerializedConstraints (const std::vector< Constraint > &constraints) override
 
void AddSubmapFromProto (const transform::Rigid3d &global_submap_pose, const proto::Submap &submap) override
 
void AddTrimmer (std::unique_ptr< PoseGraphTrimmer > trimmer) override
 
std::vector< Constraint > constraints () const override EXCLUDES(mutex_)
 
void FinishTrajectory (int trajectory_id) override
 
void FreezeTrajectory (int trajectory_id) override
 
MapById< SubmapId, PoseGraphInterface::SubmapData > GetAllSubmapData () const EXCLUDES(mutex_) override
 
MapById< SubmapId, SubmapPose > GetAllSubmapPoses () const EXCLUDES(mutex_) override
 
std::vector< std::vector< int > > GetConnectedTrajectories () const override
 
sensor::MapByTime< sensor::FixedFramePoseData > GetFixedFramePoseData () const override EXCLUDES(mutex_)
 
sensor::MapByTime< sensor::ImuData > GetImuData () const override EXCLUDES(mutex_)
 
transform::Rigid3d GetInterpolatedGlobalTrajectoryPose (int trajectory_id, const common::Time time) const REQUIRES(mutex_)
 
std::map< std::string, PoseGraph::LandmarkNode > GetLandmarkNodes () const override EXCLUDES(mutex_)
 
std::map< std::string, transform::Rigid3d > GetLandmarkPoses () const override EXCLUDES(mutex_)
 
transform::Rigid3d GetLocalToGlobalTransform (int trajectory_id) const EXCLUDES(mutex_) override
 
sensor::MapByTime< sensor::OdometryData > GetOdometryData () const override EXCLUDES(mutex_)
 
PoseGraphInterface::SubmapData GetSubmapData (const SubmapId &submap_id) const EXCLUDES(mutex_) override
 
std::map< int, TrajectoryData > GetTrajectoryData () const override EXCLUDES(mutex_)
 
MapById< NodeId, TrajectoryNodePose > GetTrajectoryNodePoses () const override EXCLUDES(mutex_)
 
MapById< NodeId, TrajectoryNode > GetTrajectoryNodes () const override EXCLUDES(mutex_)
 
bool IsTrajectoryFinished (int trajectory_id) const override REQUIRES(mutex_)
 
bool IsTrajectoryFrozen (int trajectory_id) const override REQUIRES(mutex_)
 
PoseGraph2D & operator= (const PoseGraph2D &)=delete
 
 PoseGraph2D (const proto::PoseGraphOptions &options, std::unique_ptr< optimization::OptimizationProblem2D > optimization_problem, common::ThreadPool *thread_pool)
 
 PoseGraph2D (const PoseGraph2D &)=delete
 
void RunFinalOptimization () override
 
void SetGlobalSlamOptimizationCallback (PoseGraphInterface::GlobalSlamOptimizationCallback callback) override
 
void SetInitialTrajectoryPose (int from_trajectory_id, int to_trajectory_id, const transform::Rigid3d &pose, const common::Time time) override EXCLUDES(mutex_)
 
void SetLandmarkPose (const std::string &landmark_id, const transform::Rigid3d &global_pose) override EXCLUDES(mutex_)
 
void SetTrajectoryDataFromProto (const proto::TrajectoryData &data) override
 
 ~PoseGraph2D () override
 
- Public Member Functions inherited from cartographer::mapping::PoseGraph
PoseGraph & operator= (const PoseGraph &)=delete
 
 PoseGraph ()
 
 PoseGraph (const PoseGraph &)=delete
 
virtual void SetTrajectoryDataFromProto (const mapping::proto::TrajectoryData &data)=0
 
proto::PoseGraph ToProto () const override
 
 ~PoseGraph () override
 
- Public Member Functions inherited from cartographer::mapping::PoseGraphInterface
PoseGraphInterface & operator= (const PoseGraphInterface &)=delete
 
 PoseGraphInterface ()
 
 PoseGraphInterface (const PoseGraphInterface &)=delete
 
virtual ~PoseGraphInterface ()
 

Private Types

enum  SubmapState { SubmapState::kActive, SubmapState::kFinished }
 

Private Member Functions

void AddTrajectoryIfNeeded (int trajectory_id) REQUIRES(mutex_)
 
void AddWorkItem (const std::function< void()> &work_item) REQUIRES(mutex_)
 
void ComputeConstraint (const NodeId &node_id, const SubmapId &submap_id) REQUIRES(mutex_)
 
void ComputeConstraintsForNode (const NodeId &node_id, std::vector< std::shared_ptr< const Submap2D >> insertion_submaps, bool newly_finished_submap) REQUIRES(mutex_)
 
void ComputeConstraintsForOldNodes (const SubmapId &submap_id) REQUIRES(mutex_)
 
transform::Rigid3d ComputeLocalToGlobalTransform (const MapById< SubmapId, optimization::SubmapSpec2D > &global_submap_poses, int trajectory_id) const REQUIRES(mutex_)
 
void DispatchOptimization () REQUIRES(mutex_)
 
common::Time GetLatestNodeTime (const NodeId &node_id, const SubmapId &submap_id) const REQUIRES(mutex_)
 
MapById< SubmapId, PoseGraphInterface::SubmapData > GetSubmapDataUnderLock () const REQUIRES(mutex_)
 
SubmapData GetSubmapDataUnderLock (const SubmapId &submap_id) const REQUIRES(mutex_)
 
std::unique_ptr< std::deque< std::function< void()> > > work_queue_ GUARDED_BY (mutex_)
 
std::unordered_map< int, std::unique_ptr< common::FixedRatioSampler > > global_localization_samplers_ GUARDED_BY (mutex_)
 
int num_nodes_since_last_loop_closure_ GUARDED_BY (mutex_)=0
 
bool run_loop_closure_ GUARDED_BY (mutex_)
 
constraints::ConstraintBuilder2D constraint_builder_ GUARDED_BY (mutex_)
 
std::vector< Constraint > constraints_ GUARDED_BY (mutex_)
 
MapById< SubmapId, InternalSubmapData > submap_data_ GUARDED_BY (mutex_)
 
MapById< NodeId, TrajectoryNode > trajectory_nodes_ GUARDED_BY (mutex_)
 
int num_trajectory_nodes_ GUARDED_BY (mutex_)=0
 
MapById< SubmapId, optimization::SubmapSpec2D > global_submap_poses_ GUARDED_BY (mutex_)
 
std::map< std::string, PoseGraph::LandmarkNode > landmark_nodes_ GUARDED_BY (mutex_)
 
std::vector< std::unique_ptr< PoseGraphTrimmer > > trimmers_ GUARDED_BY (mutex_)
 
std::set< int > frozen_trajectories_ GUARDED_BY (mutex_)
 
std::set< int > finished_trajectories_ GUARDED_BY (mutex_)
 
std::map< int, InitialTrajectoryPose > initial_trajectory_poses_ GUARDED_BY (mutex_)
 
void HandleWorkQueue (const constraints::ConstraintBuilder2D::Result &result) REQUIRES(mutex_)
 
std::vector< SubmapId > InitializeGlobalSubmapPoses (int trajectory_id, const common::Time time, const std::vector< std::shared_ptr< const Submap2D >> &insertion_submaps) REQUIRES(mutex_)
 
void RunOptimization () EXCLUDES(mutex_)
 
void UpdateTrajectoryConnectivity (const Constraint &constraint) REQUIRES(mutex_)
 
void WaitForAllComputations () EXCLUDES(mutex_)
 

Private Attributes

GlobalSlamOptimizationCallback global_slam_optimization_callback_
 
common::Mutex mutex_
 
std::unique_ptr< optimization::OptimizationProblem2D > optimization_problem_
 
const proto::PoseGraphOptions options_
 
TrajectoryConnectivityState trajectory_connectivity_state_
 

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 60 of file pose_graph_2d.h.

Member Enumeration Documentation

◆ SubmapState

enum cartographer::mapping::PoseGraph2D::SubmapState
strongprivate
Enumerator
kActive 
kFinished 

Definition at line 152 of file pose_graph_2d.h.

Constructor & Destructor Documentation

◆ PoseGraph2D() [1/2]

cartographer::mapping::PoseGraph2D::PoseGraph2D ( const proto::PoseGraphOptions &  options,
std::unique_ptr< optimization::OptimizationProblem2D >  optimization_problem,
common::ThreadPool *  thread_pool 
)

Definition at line 42 of file pose_graph_2d.cc.

◆ ~PoseGraph2D()

cartographer::mapping::PoseGraph2D::~PoseGraph2D ( )
override

Definition at line 50 of file pose_graph_2d.cc.

◆ PoseGraph2D() [2/2]

cartographer::mapping::PoseGraph2D::PoseGraph2D ( const PoseGraph2D &  )
delete

Member Function Documentation

◆ AddFixedFramePoseData()

void cartographer::mapping::PoseGraph2D::AddFixedFramePoseData ( int  trajectory_id,
const sensor::FixedFramePoseData &  fixed_frame_pose_data 
)
overridevirtual

Implements cartographer::mapping::PoseGraph.

Definition at line 171 of file pose_graph_2d.cc.

◆ AddImuData()

void cartographer::mapping::PoseGraph2D::AddImuData ( int  trajectory_id,
const sensor::ImuData &  imu_data 
)
overridevirtual

Implements cartographer::mapping::PoseGraph.

Definition at line 155 of file pose_graph_2d.cc.

◆ AddLandmarkData()

void cartographer::mapping::PoseGraph2D::AddLandmarkData ( int  trajectory_id,
const sensor::LandmarkData &  landmark_data 
)
overridevirtual

Implements cartographer::mapping::PoseGraph.

Definition at line 177 of file pose_graph_2d.cc.

◆ AddNode()

NodeId cartographer::mapping::PoseGraph2D::AddNode ( std::shared_ptr< const TrajectoryNode::Data >  constant_data,
int  trajectory_id,
const std::vector< std::shared_ptr< const Submap2D >> &  insertion_submaps 
)

Definition at line 103 of file pose_graph_2d.cc.

◆ AddNodeFromProto()

void cartographer::mapping::PoseGraph2D::AddNodeFromProto ( const transform::Rigid3d &  global_pose,
const proto::Node &  node 
)
overridevirtual

Implements cartographer::mapping::PoseGraph.

Definition at line 477 of file pose_graph_2d.cc.

◆ AddNodeToSubmap()

void cartographer::mapping::PoseGraph2D::AddNodeToSubmap ( const NodeId &  node_id,
const SubmapId &  submap_id 
)
overridevirtual

Implements cartographer::mapping::PoseGraph.

Definition at line 508 of file pose_graph_2d.cc.

◆ AddOdometryData()

void cartographer::mapping::PoseGraph2D::AddOdometryData ( int  trajectory_id,
const sensor::OdometryData &  odometry_data 
)
overridevirtual

Implements cartographer::mapping::PoseGraph.

Definition at line 163 of file pose_graph_2d.cc.

◆ AddSerializedConstraints()

void cartographer::mapping::PoseGraph2D::AddSerializedConstraints ( const std::vector< Constraint > &  constraints)
overridevirtual

Implements cartographer::mapping::PoseGraph.

Definition at line 516 of file pose_graph_2d.cc.

◆ AddSubmapFromProto()

void cartographer::mapping::PoseGraph2D::AddSubmapFromProto ( const transform::Rigid3d &  global_submap_pose,
const proto::Submap &  submap 
)
overridevirtual

Implements cartographer::mapping::PoseGraph.

Definition at line 451 of file pose_graph_2d.cc.

◆ AddTrajectoryIfNeeded()

void cartographer::mapping::PoseGraph2D::AddTrajectoryIfNeeded ( int  trajectory_id)
private

Definition at line 145 of file pose_graph_2d.cc.

◆ AddTrimmer()

void cartographer::mapping::PoseGraph2D::AddTrimmer ( std::unique_ptr< PoseGraphTrimmer >  trimmer)
overridevirtual

Implements cartographer::mapping::PoseGraph.

Definition at line 548 of file pose_graph_2d.cc.

◆ AddWorkItem()

void cartographer::mapping::PoseGraph2D::AddWorkItem ( const std::function< void()> &  work_item)
private

Definition at line 137 of file pose_graph_2d.cc.

◆ ComputeConstraint()

void cartographer::mapping::PoseGraph2D::ComputeConstraint ( const NodeId &  node_id,
const SubmapId &  submap_id 
)
private

Definition at line 192 of file pose_graph_2d.cc.

◆ ComputeConstraintsForNode()

void cartographer::mapping::PoseGraph2D::ComputeConstraintsForNode ( const NodeId &  node_id,
std::vector< std::shared_ptr< const Submap2D >>  insertion_submaps,
bool  newly_finished_submap 
)
private

Definition at line 235 of file pose_graph_2d.cc.

◆ ComputeConstraintsForOldNodes()

void cartographer::mapping::PoseGraph2D::ComputeConstraintsForOldNodes ( const SubmapId &  submap_id)
private

Definition at line 225 of file pose_graph_2d.cc.

◆ ComputeLocalToGlobalTransform()

transform::Rigid3d cartographer::mapping::PoseGraph2D::ComputeLocalToGlobalTransform ( const MapById< SubmapId, optimization::SubmapSpec2D > &  global_submap_poses,
int  trajectory_id 
) const
private

Definition at line 775 of file pose_graph_2d.cc.

◆ constraints()

std::vector< PoseGraphInterface::Constraint > cartographer::mapping::PoseGraph2D::constraints ( ) const
overridevirtual

Implements cartographer::mapping::PoseGraphInterface.

Definition at line 693 of file pose_graph_2d.cc.

◆ DispatchOptimization()

void cartographer::mapping::PoseGraph2D::DispatchOptimization ( )
private

Definition at line 299 of file pose_graph_2d.cc.

◆ FinishTrajectory()

void cartographer::mapping::PoseGraph2D::FinishTrajectory ( int  trajectory_id)
overridevirtual

Implements cartographer::mapping::PoseGraph.

Definition at line 420 of file pose_graph_2d.cc.

◆ FreezeTrajectory()

void cartographer::mapping::PoseGraph2D::FreezeTrajectory ( int  trajectory_id)
overridevirtual

Implements cartographer::mapping::PoseGraph.

Definition at line 438 of file pose_graph_2d.cc.

◆ GetAllSubmapData()

MapById< SubmapId, PoseGraphInterface::SubmapData > cartographer::mapping::PoseGraph2D::GetAllSubmapData ( ) const
overridevirtual

Implements cartographer::mapping::PoseGraphInterface.

Definition at line 756 of file pose_graph_2d.cc.

◆ GetAllSubmapPoses()

MapById< SubmapId, PoseGraphInterface::SubmapPose > cartographer::mapping::PoseGraph2D::GetAllSubmapPoses ( ) const
overridevirtual

Implements cartographer::mapping::PoseGraphInterface.

Definition at line 762 of file pose_graph_2d.cc.

◆ GetConnectedTrajectories()

std::vector< std::vector< int > > cartographer::mapping::PoseGraph2D::GetConnectedTrajectories ( ) const
overridevirtual

Implements cartographer::mapping::PoseGraph.

Definition at line 745 of file pose_graph_2d.cc.

◆ GetFixedFramePoseData()

sensor::MapByTime< sensor::FixedFramePoseData > cartographer::mapping::PoseGraph2D::GetFixedFramePoseData ( ) const
overridevirtual

Implements cartographer::mapping::PoseGraph.

Definition at line 689 of file pose_graph_2d.cc.

◆ GetImuData()

sensor::MapByTime< sensor::ImuData > cartographer::mapping::PoseGraph2D::GetImuData ( ) const
overridevirtual

Implements cartographer::mapping::PoseGraph.

Definition at line 667 of file pose_graph_2d.cc.

◆ GetInterpolatedGlobalTrajectoryPose()

transform::Rigid3d cartographer::mapping::PoseGraph2D::GetInterpolatedGlobalTrajectoryPose ( int  trajectory_id,
const common::Time  time 
) const

Definition at line 719 of file pose_graph_2d.cc.

◆ GetLandmarkNodes()

std::map< std::string, PoseGraphInterface::LandmarkNode > cartographer::mapping::PoseGraph2D::GetLandmarkNodes ( ) const
overridevirtual

Implements cartographer::mapping::PoseGraph.

Definition at line 678 of file pose_graph_2d.cc.

◆ GetLandmarkPoses()

std::map< std::string, transform::Rigid3d > cartographer::mapping::PoseGraph2D::GetLandmarkPoses ( ) const
overridevirtual

Implements cartographer::mapping::PoseGraphInterface.

Definition at line 646 of file pose_graph_2d.cc.

◆ GetLatestNodeTime()

common::Time cartographer::mapping::PoseGraph2D::GetLatestNodeTime ( const NodeId &  node_id,
const SubmapId &  submap_id 
) const
private

Definition at line 308 of file pose_graph_2d.cc.

◆ GetLocalToGlobalTransform()

transform::Rigid3d cartographer::mapping::PoseGraph2D::GetLocalToGlobalTransform ( int  trajectory_id) const
overridevirtual

Implements cartographer::mapping::PoseGraphInterface.

Definition at line 739 of file pose_graph_2d.cc.

◆ GetOdometryData()

sensor::MapByTime< sensor::OdometryData > cartographer::mapping::PoseGraph2D::GetOdometryData ( ) const
overridevirtual

Implements cartographer::mapping::PoseGraph.

Definition at line 672 of file pose_graph_2d.cc.

◆ GetSubmapData()

PoseGraphInterface::SubmapData cartographer::mapping::PoseGraph2D::GetSubmapData ( const SubmapId &  submap_id) const
overridevirtual

Implements cartographer::mapping::PoseGraph.

Definition at line 749 of file pose_graph_2d.cc.

◆ GetSubmapDataUnderLock() [1/2]

MapById< SubmapId, PoseGraphInterface::SubmapData > cartographer::mapping::PoseGraph2D::GetSubmapDataUnderLock ( ) const
private

Definition at line 925 of file pose_graph_2d.cc.

◆ GetSubmapDataUnderLock() [2/2]

PoseGraphInterface::SubmapData cartographer::mapping::PoseGraph2D::GetSubmapDataUnderLock ( const SubmapId &  submap_id) const
private

Definition at line 799 of file pose_graph_2d.cc.

◆ GetTrajectoryData()

std::map< int, PoseGraphInterface::TrajectoryData > cartographer::mapping::PoseGraph2D::GetTrajectoryData ( ) const
overridevirtual

Implements cartographer::mapping::PoseGraphInterface.

Definition at line 684 of file pose_graph_2d.cc.

◆ GetTrajectoryNodePoses()

MapById< NodeId, TrajectoryNodePose > cartographer::mapping::PoseGraph2D::GetTrajectoryNodePoses ( ) const
overridevirtual

Implements cartographer::mapping::PoseGraphInterface.

Definition at line 628 of file pose_graph_2d.cc.

◆ GetTrajectoryNodes()

MapById< NodeId, TrajectoryNode > cartographer::mapping::PoseGraph2D::GetTrajectoryNodes ( ) const
overridevirtual

Implements cartographer::mapping::PoseGraphInterface.

Definition at line 623 of file pose_graph_2d.cc.

◆ GUARDED_BY() [1/15]

std::unique_ptr<std::deque<std::function<void()> > > work_queue_ cartographer::mapping::PoseGraph2D::GUARDED_BY ( mutex_  )
private

◆ GUARDED_BY() [2/15]

std::unordered_map<int, std::unique_ptr<common::FixedRatioSampler> > global_localization_samplers_ cartographer::mapping::PoseGraph2D::GUARDED_BY ( mutex_  )
private

◆ GUARDED_BY() [3/15]

int num_nodes_since_last_loop_closure_ cartographer::mapping::PoseGraph2D::GUARDED_BY ( mutex_  )
privatepure virtual

◆ GUARDED_BY() [4/15]

bool run_loop_closure_ cartographer::mapping::PoseGraph2D::GUARDED_BY ( mutex_  )
private

◆ GUARDED_BY() [5/15]

constraints::ConstraintBuilder2D constraint_builder_ cartographer::mapping::PoseGraph2D::GUARDED_BY ( mutex_  )
private

◆ GUARDED_BY() [6/15]

std::vector<Constraint> constraints_ cartographer::mapping::PoseGraph2D::GUARDED_BY ( mutex_  )
private

◆ GUARDED_BY() [7/15]

MapById<SubmapId, InternalSubmapData> submap_data_ cartographer::mapping::PoseGraph2D::GUARDED_BY ( mutex_  )
private

◆ GUARDED_BY() [8/15]

MapById<NodeId, TrajectoryNode> trajectory_nodes_ cartographer::mapping::PoseGraph2D::GUARDED_BY ( mutex_  )
private

◆ GUARDED_BY() [9/15]

int num_trajectory_nodes_ cartographer::mapping::PoseGraph2D::GUARDED_BY ( mutex_  )
privatepure virtual

◆ GUARDED_BY() [10/15]

MapById<SubmapId, optimization::SubmapSpec2D> global_submap_poses_ cartographer::mapping::PoseGraph2D::GUARDED_BY ( mutex_  )
private

◆ GUARDED_BY() [11/15]

std::map<std::string , PoseGraph::LandmarkNode> landmark_nodes_ cartographer::mapping::PoseGraph2D::GUARDED_BY ( mutex_  )
private

◆ GUARDED_BY() [12/15]

std::vector<std::unique_ptr<PoseGraphTrimmer> > trimmers_ cartographer::mapping::PoseGraph2D::GUARDED_BY ( mutex_  )
private

◆ GUARDED_BY() [13/15]

std::set<int> frozen_trajectories_ cartographer::mapping::PoseGraph2D::GUARDED_BY ( mutex_  )
private

◆ GUARDED_BY() [14/15]

std::set<int> finished_trajectories_ cartographer::mapping::PoseGraph2D::GUARDED_BY ( mutex_  )
private

◆ GUARDED_BY() [15/15]

std::map<int, InitialTrajectoryPose> initial_trajectory_poses_ cartographer::mapping::PoseGraph2D::GUARDED_BY ( mutex_  )
private

◆ HandleWorkQueue()

void cartographer::mapping::PoseGraph2D::HandleWorkQueue ( const constraints::ConstraintBuilder2D::Result &  result)
private

Definition at line 330 of file pose_graph_2d.cc.

◆ InitializeGlobalSubmapPoses()

std::vector< SubmapId > cartographer::mapping::PoseGraph2D::InitializeGlobalSubmapPoses ( int  trajectory_id,
const common::Time  time,
const std::vector< std::shared_ptr< const Submap2D >> &  insertion_submaps 
)
private

Definition at line 56 of file pose_graph_2d.cc.

◆ IsTrajectoryFinished()

bool cartographer::mapping::PoseGraph2D::IsTrajectoryFinished ( int  trajectory_id) const
overridevirtual

Implements cartographer::mapping::PoseGraphInterface.

Definition at line 434 of file pose_graph_2d.cc.

◆ IsTrajectoryFrozen()

bool cartographer::mapping::PoseGraph2D::IsTrajectoryFrozen ( int  trajectory_id) const
overridevirtual

Implements cartographer::mapping::PoseGraphInterface.

Definition at line 447 of file pose_graph_2d.cc.

◆ operator=()

PoseGraph2D& cartographer::mapping::PoseGraph2D::operator= ( const PoseGraph2D &  )
delete

◆ RunFinalOptimization()

void cartographer::mapping::PoseGraph2D::RunFinalOptimization ( )
overridevirtual

Implements cartographer::mapping::PoseGraphInterface.

Definition at line 556 of file pose_graph_2d.cc.

◆ RunOptimization()

void cartographer::mapping::PoseGraph2D::RunOptimization ( )
private

Definition at line 574 of file pose_graph_2d.cc.

◆ SetGlobalSlamOptimizationCallback()

void cartographer::mapping::PoseGraph2D::SetGlobalSlamOptimizationCallback ( PoseGraphInterface::GlobalSlamOptimizationCallback  callback)
overridevirtual

Implements cartographer::mapping::PoseGraphInterface.

Definition at line 934 of file pose_graph_2d.cc.

◆ SetInitialTrajectoryPose()

void cartographer::mapping::PoseGraph2D::SetInitialTrajectoryPose ( int  from_trajectory_id,
int  to_trajectory_id,
const transform::Rigid3d &  pose,
const common::Time  time 
)
overridevirtual

Implements cartographer::mapping::PoseGraph.

Definition at line 710 of file pose_graph_2d.cc.

◆ SetLandmarkPose()

void cartographer::mapping::PoseGraph2D::SetLandmarkPose ( const std::string &  landmark_id,
const transform::Rigid3d &  global_pose 
)
overridevirtual

Implements cartographer::mapping::PoseGraphInterface.

Definition at line 659 of file pose_graph_2d.cc.

◆ SetTrajectoryDataFromProto()

void cartographer::mapping::PoseGraph2D::SetTrajectoryDataFromProto ( const proto::TrajectoryData &  data)
override

Definition at line 503 of file pose_graph_2d.cc.

◆ UpdateTrajectoryConnectivity()

void cartographer::mapping::PoseGraph2D::UpdateTrajectoryConnectivity ( const Constraint &  constraint)
private

Definition at line 321 of file pose_graph_2d.cc.

◆ WaitForAllComputations()

void cartographer::mapping::PoseGraph2D::WaitForAllComputations ( )
private

Definition at line 388 of file pose_graph_2d.cc.

Member Data Documentation

◆ global_slam_optimization_callback_

GlobalSlamOptimizationCallback cartographer::mapping::PoseGraph2D::global_slam_optimization_callback_
private

Definition at line 224 of file pose_graph_2d.h.

◆ mutex_

common::Mutex cartographer::mapping::PoseGraph2D::mutex_
mutableprivate

Definition at line 225 of file pose_graph_2d.h.

◆ optimization_problem_

std::unique_ptr<optimization::OptimizationProblem2D> cartographer::mapping::PoseGraph2D::optimization_problem_
private

Definition at line 249 of file pose_graph_2d.h.

◆ options_

const proto::PoseGraphOptions cartographer::mapping::PoseGraph2D::options_
private

Definition at line 223 of file pose_graph_2d.h.

◆ trajectory_connectivity_state_

TrajectoryConnectivityState cartographer::mapping::PoseGraph2D::trajectory_connectivity_state_
private

Definition at line 233 of file pose_graph_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