Public Types | Public Member Functions | Static Public Member Functions | Private Member Functions | Private Attributes | List of all members
cartographer::mapping::optimization::LandmarkCostFunction2D Class Reference

#include <landmark_cost_function_2d.h>

Public Types

using LandmarkObservation = PoseGraphInterface::LandmarkNode::LandmarkObservation
 

Public Member Functions

template<typename T >
bool operator() (const T *const prev_node_pose, const T *const next_node_pose, const T *const landmark_rotation, const T *const landmark_translation, T *const e) const
 

Static Public Member Functions

static ceres::CostFunction * CreateAutoDiffCostFunction (const LandmarkObservation &observation, const NodeSpec2D &prev_node, const NodeSpec2D &next_node)
 

Private Member Functions

 LandmarkCostFunction2D (const LandmarkObservation &observation, const NodeSpec2D &prev_node, const NodeSpec2D &next_node)
 

Private Attributes

const double interpolation_parameter_
 
const transform::Rigid3d landmark_to_tracking_transform_
 
const Eigen::Quaterniond next_node_gravity_alignment_
 
const Eigen::Quaterniond prev_node_gravity_alignment_
 
const double rotation_weight_
 
const double translation_weight_
 

Detailed Description

Definition at line 37 of file landmark_cost_function_2d.h.

Member Typedef Documentation

◆ LandmarkObservation

using cartographer::mapping::optimization::LandmarkCostFunction2D::LandmarkObservation = PoseGraphInterface::LandmarkNode::LandmarkObservation

Definition at line 40 of file landmark_cost_function_2d.h.

Constructor & Destructor Documentation

◆ LandmarkCostFunction2D()

cartographer::mapping::optimization::LandmarkCostFunction2D::LandmarkCostFunction2D ( const LandmarkObservation &  observation,
const NodeSpec2D &  prev_node,
const NodeSpec2D &  next_node 
)
inlineprivate

Definition at line 73 of file landmark_cost_function_2d.h.

Member Function Documentation

◆ CreateAutoDiffCostFunction()

static ceres::CostFunction* cartographer::mapping::optimization::LandmarkCostFunction2D::CreateAutoDiffCostFunction ( const LandmarkObservation &  observation,
const NodeSpec2D &  prev_node,
const NodeSpec2D &  next_node 
)
inlinestatic

Definition at line 42 of file landmark_cost_function_2d.h.

◆ operator()()

template<typename T >
bool cartographer::mapping::optimization::LandmarkCostFunction2D::operator() ( const T *const  prev_node_pose,
const T *const  next_node_pose,
const T *const  landmark_rotation,
const T *const  landmark_translation,
T *const  e 
) const
inline

Definition at line 54 of file landmark_cost_function_2d.h.

Member Data Documentation

◆ interpolation_parameter_

const double cartographer::mapping::optimization::LandmarkCostFunction2D::interpolation_parameter_
private

Definition at line 91 of file landmark_cost_function_2d.h.

◆ landmark_to_tracking_transform_

const transform::Rigid3d cartographer::mapping::optimization::LandmarkCostFunction2D::landmark_to_tracking_transform_
private

Definition at line 86 of file landmark_cost_function_2d.h.

◆ next_node_gravity_alignment_

const Eigen::Quaterniond cartographer::mapping::optimization::LandmarkCostFunction2D::next_node_gravity_alignment_
private

Definition at line 88 of file landmark_cost_function_2d.h.

◆ prev_node_gravity_alignment_

const Eigen::Quaterniond cartographer::mapping::optimization::LandmarkCostFunction2D::prev_node_gravity_alignment_
private

Definition at line 87 of file landmark_cost_function_2d.h.

◆ rotation_weight_

const double cartographer::mapping::optimization::LandmarkCostFunction2D::rotation_weight_
private

Definition at line 90 of file landmark_cost_function_2d.h.

◆ translation_weight_

const double cartographer::mapping::optimization::LandmarkCostFunction2D::translation_weight_
private

Definition at line 89 of file landmark_cost_function_2d.h.

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

cartographer
Author(s): The Cartographer Authors
autogenerated on Mon Feb 28 2022 22:00:59