cartographer::mapping::PoseGraphInterface Class Reference

#include <pose_graph_interface.h>

Inheritance diagram for cartographer::mapping::PoseGraphInterface:

Classes
struct	Constraint
struct	LandmarkNode
struct	SubmapData
struct	SubmapPose
struct	TrajectoryData

Public Types
using	GlobalSlamOptimizationCallback = std::function< void(const std::map< int, SubmapId > &, const std::map< int, NodeId > &)>

Public Member Functions
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 proto::PoseGraph	ToProto () const =0
virtual	~PoseGraphInterface ()

Detailed Description

Definition at line 30 of file pose_graph_interface.h.

Member Typedef Documentation

GlobalSlamOptimizationCallback

using cartographer::mapping::PoseGraphInterface::GlobalSlamOptimizationCallback = std::function<void(const std::map<int , SubmapId>&, const std::map<int , NodeId>&)>

Definition at line 84 of file pose_graph_interface.h.

Constructor & Destructor Documentation

PoseGraphInterface() [1/2]

cartographer::mapping::PoseGraphInterface::PoseGraphInterface ( )

inline

Definition at line 86 of file pose_graph_interface.h.

~PoseGraphInterface()

virtual cartographer::mapping::PoseGraphInterface::~PoseGraphInterface ( )

inlinevirtual

Definition at line 87 of file pose_graph_interface.h.

PoseGraphInterface() [2/2]

cartographer::mapping::PoseGraphInterface::PoseGraphInterface ( const PoseGraphInterface &  )

delete

Member Function Documentation

constraints()

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

pure virtual

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

GetAllSubmapData()

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

pure virtual

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

GetAllSubmapPoses()

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

pure virtual

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

GetLandmarkPoses()

virtual std::map<std::string, transform::Rigid3d> cartographer::mapping::PoseGraphInterface::GetLandmarkPoses ( ) const

pure virtual

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

GetLocalToGlobalTransform()

virtual transform::Rigid3d cartographer::mapping::PoseGraphInterface::GetLocalToGlobalTransform ( int  trajectory_id ) const

pure virtual

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

GetTrajectoryData()

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

pure virtual

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

GetTrajectoryNodePoses()

virtual MapById<NodeId, TrajectoryNodePose> cartographer::mapping::PoseGraphInterface::GetTrajectoryNodePoses ( ) const

pure virtual

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

GetTrajectoryNodes()

virtual MapById<NodeId, TrajectoryNode> cartographer::mapping::PoseGraphInterface::GetTrajectoryNodes ( ) const

pure virtual

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

IsTrajectoryFinished()

virtual bool cartographer::mapping::PoseGraphInterface::IsTrajectoryFinished ( int  trajectory_id ) const

pure virtual

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

IsTrajectoryFrozen()

virtual bool cartographer::mapping::PoseGraphInterface::IsTrajectoryFrozen ( int  trajectory_id ) const

pure virtual

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

operator=()

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

delete

RunFinalOptimization()

virtual void cartographer::mapping::PoseGraphInterface::RunFinalOptimization ( )

pure virtual

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

SetGlobalSlamOptimizationCallback()

virtual void cartographer::mapping::PoseGraphInterface::SetGlobalSlamOptimizationCallback ( GlobalSlamOptimizationCallback  callback )

pure virtual

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

SetLandmarkPose()

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

pure virtual

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

ToProto()

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

pure virtual

Implemented in cartographer::mapping::PoseGraph, and cartographer::cloud::PoseGraphStub.

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

• pose_graph_interface.h