#include <optimization_problem_2d.h>

Inheritance diagram for cartographer::mapping::optimization::OptimizationProblem2D:

Public Member Functions
void	AddImuData (int trajectory_id, const sensor::ImuData &imu_data) override

void	AddOdometryData (int trajectory_id, const sensor::OdometryData &odometry_data) override

void	AddSubmap (int trajectory_id, const transform::Rigid2d &global_submap_pose) override

void	AddTrajectoryNode (int trajectory_id, const NodeSpec2D &node_data) override

const sensor::MapByTime< sensor::ImuData > &	imu_data () const override

void	InsertSubmap (const SubmapId &submap_id, const transform::Rigid2d &global_submap_pose) override

void	InsertTrajectoryNode (const NodeId &node_id, const NodeSpec2D &node_data) override

const std::map< std::string, transform::Rigid3d > &	landmark_data () const override

const MapById< NodeId, NodeSpec2D > &	node_data () const override

const sensor::MapByTime< sensor::OdometryData > &	odometry_data () const override

OptimizationProblem2D &	operator= (const OptimizationProblem2D &)=delete

	OptimizationProblem2D (const optimization::proto::OptimizationProblemOptions &options)

	OptimizationProblem2D (const OptimizationProblem2D &)=delete

void	SetMaxNumIterations (int32 max_num_iterations) override

void	Solve (const std::vector< Constraint > &constraints, const std::set< int > &frozen_trajectories, const std::map< std::string, LandmarkNode > &landmark_nodes) override

const MapById< SubmapId, SubmapSpec2D > &	submap_data () const override

void	TrimSubmap (const SubmapId &submap_id) override

void	TrimTrajectoryNode (const NodeId &node_id) override

	~OptimizationProblem2D ()

Public Member Functions inherited from cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec2D, SubmapSpec2D, transform::Rigid2d >
OptimizationProblemInterface &	operator= (const OptimizationProblemInterface &)=delete

	OptimizationProblemInterface ()

	OptimizationProblemInterface (const OptimizationProblemInterface &)=delete

virtual void	Solve (const std::vector< Constraint > &constraints, const std::set< int > &frozen_trajectories, const std::map< std::string, LandmarkNode > &landmark_nodes)=0

virtual	~OptimizationProblemInterface ()

Private Member Functions
std::unique_ptr< transform::Rigid3d >	CalculateOdometryBetweenNodes (int trajectory_id, const NodeSpec2D &first_node_data, const NodeSpec2D &second_node_data) const

std::unique_ptr< transform::Rigid3d >	InterpolateOdometry (int trajectory_id, common::Time time) const

Private Attributes
sensor::MapByTime< sensor::ImuData >	imu_data_

std::map< std::string, transform::Rigid3d >	landmark_data_

MapById< NodeId, NodeSpec2D >	node_data_

sensor::MapByTime< sensor::OdometryData >	odometry_data_

optimization::proto::OptimizationProblemOptions	options_

MapById< SubmapId, SubmapSpec2D >	submap_data_

Additional Inherited Members
Public Types inherited from cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec2D, SubmapSpec2D, transform::Rigid2d >
using	Constraint = PoseGraphInterface::Constraint

using	LandmarkNode = PoseGraphInterface::LandmarkNode

Detailed Description

Definition at line 54 of file optimization_problem_2d.h.

Constructor & Destructor Documentation

◆ OptimizationProblem2D() [1/2]

cartographer::mapping::optimization::OptimizationProblem2D::OptimizationProblem2D ( const optimization::proto::OptimizationProblemOptions & options )

explicit

◆ ~OptimizationProblem2D()

cartographer::mapping::optimization::OptimizationProblem2D::~OptimizationProblem2D ( )

Definition at line 148 of file optimization_problem_2d.cc.

◆ OptimizationProblem2D() [2/2]

cartographer::mapping::optimization::OptimizationProblem2D::OptimizationProblem2D ( const OptimizationProblem2D & )

delete

Member Function Documentation

◆ AddImuData()

void cartographer::mapping::optimization::OptimizationProblem2D::AddImuData	(	int	trajectory_id,
		const sensor::ImuData &	imu_data
	)

overridevirtual

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec2D, SubmapSpec2D, transform::Rigid2d >.

Definition at line 150 of file optimization_problem_2d.cc.

◆ AddOdometryData()

void cartographer::mapping::optimization::OptimizationProblem2D::AddOdometryData	(	int	trajectory_id,
		const sensor::OdometryData &	odometry_data
	)

overridevirtual

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec2D, SubmapSpec2D, transform::Rigid2d >.

Definition at line 155 of file optimization_problem_2d.cc.

◆ AddSubmap()

void cartographer::mapping::optimization::OptimizationProblem2D::AddSubmap	(	int	trajectory_id,
		const transform::Rigid2d &	global_submap_pose
	)

overridevirtual

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec2D, SubmapSpec2D, transform::Rigid2d >.

Definition at line 176 of file optimization_problem_2d.cc.

◆ AddTrajectoryNode()

void cartographer::mapping::optimization::OptimizationProblem2D::AddTrajectoryNode	(	int	trajectory_id,
		const NodeSpec2D &	node_data
	)

overridevirtual

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec2D, SubmapSpec2D, transform::Rigid2d >.

Definition at line 160 of file optimization_problem_2d.cc.

◆ CalculateOdometryBetweenNodes()

std::unique_ptr< transform::Rigid3d > cartographer::mapping::optimization::OptimizationProblem2D::CalculateOdometryBetweenNodes	(	int	trajectory_id,
		const NodeSpec2D &	first_node_data,
		const NodeSpec2D &	second_node_data
	)		const

private

Definition at line 343 of file optimization_problem_2d.cc.

◆ imu_data()

const sensor::MapByTime<sensor::ImuData>& cartographer::mapping::optimization::OptimizationProblem2D::imu_data ( ) const

inlineoverridevirtual

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec2D, SubmapSpec2D, transform::Rigid2d >.

Definition at line 95 of file optimization_problem_2d.h.

◆ InsertSubmap()

void cartographer::mapping::optimization::OptimizationProblem2D::InsertSubmap	(	const SubmapId &	submap_id,
		const transform::Rigid2d &	global_submap_pose
	)

overridevirtual

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec2D, SubmapSpec2D, transform::Rigid2d >.

Definition at line 181 of file optimization_problem_2d.cc.

◆ InsertTrajectoryNode()

void cartographer::mapping::optimization::OptimizationProblem2D::InsertTrajectoryNode	(	const NodeId &	node_id,
		const NodeSpec2D &	node_data
	)

overridevirtual

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec2D, SubmapSpec2D, transform::Rigid2d >.

Definition at line 165 of file optimization_problem_2d.cc.

◆ InterpolateOdometry()

std::unique_ptr< transform::Rigid3d > cartographer::mapping::optimization::OptimizationProblem2D::InterpolateOdometry	(	int	trajectory_id,
		common::Time	time
	)		const

private

Definition at line 323 of file optimization_problem_2d.cc.

◆ landmark_data()

const std::map<std::string, transform::Rigid3d>& cartographer::mapping::optimization::OptimizationProblem2D::landmark_data ( ) const

inlineoverridevirtual

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec2D, SubmapSpec2D, transform::Rigid2d >.

Definition at line 91 of file optimization_problem_2d.h.

◆ node_data()

const MapById<NodeId, NodeSpec2D>& cartographer::mapping::optimization::OptimizationProblem2D::node_data ( ) const

inlineoverridevirtual

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec2D, SubmapSpec2D, transform::Rigid2d >.

Definition at line 85 of file optimization_problem_2d.h.

◆ odometry_data()

const sensor::MapByTime<sensor::OdometryData>& cartographer::mapping::optimization::OptimizationProblem2D::odometry_data ( ) const

inlineoverridevirtual

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec2D, SubmapSpec2D, transform::Rigid2d >.

Definition at line 98 of file optimization_problem_2d.h.

◆ operator=()

OptimizationProblem2D& cartographer::mapping::optimization::OptimizationProblem2D::operator= ( const OptimizationProblem2D & )

delete

◆ SetMaxNumIterations()

void cartographer::mapping::optimization::OptimizationProblem2D::SetMaxNumIterations ( int32 max_num_iterations )

overridevirtual

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec2D, SubmapSpec2D, transform::Rigid2d >.

Definition at line 190 of file optimization_problem_2d.cc.

◆ Solve()

void cartographer::mapping::optimization::OptimizationProblem2D::Solve	(	const std::vector< Constraint > &	constraints,
		const std::set< int > &	frozen_trajectories,
		const std::map< std::string, LandmarkNode > &	landmark_nodes
	)

override

Definition at line 196 of file optimization_problem_2d.cc.

◆ submap_data()

const MapById<SubmapId, SubmapSpec2D>& cartographer::mapping::optimization::OptimizationProblem2D::submap_data ( ) const

inlineoverridevirtual

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec2D, SubmapSpec2D, transform::Rigid2d >.

Definition at line 88 of file optimization_problem_2d.h.

◆ TrimSubmap()

void cartographer::mapping::optimization::OptimizationProblem2D::TrimSubmap ( const SubmapId & submap_id )

overridevirtual

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec2D, SubmapSpec2D, transform::Rigid2d >.

Definition at line 186 of file optimization_problem_2d.cc.

◆ TrimTrajectoryNode()

void cartographer::mapping::optimization::OptimizationProblem2D::TrimTrajectoryNode ( const NodeId & node_id )

overridevirtual

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec2D, SubmapSpec2D, transform::Rigid2d >.

Definition at line 170 of file optimization_problem_2d.cc.

Member Data Documentation

◆ imu_data_

sensor::MapByTime<sensor::ImuData> cartographer::mapping::optimization::OptimizationProblem2D::imu_data_

private

Definition at line 115 of file optimization_problem_2d.h.

◆ landmark_data_

std::map<std::string, transform::Rigid3d> cartographer::mapping::optimization::OptimizationProblem2D::landmark_data_

private

Definition at line 114 of file optimization_problem_2d.h.

◆ node_data_

MapById<NodeId, NodeSpec2D> cartographer::mapping::optimization::OptimizationProblem2D::node_data_

private

Definition at line 112 of file optimization_problem_2d.h.

◆ odometry_data_

sensor::MapByTime<sensor::OdometryData> cartographer::mapping::optimization::OptimizationProblem2D::odometry_data_

private

Definition at line 116 of file optimization_problem_2d.h.

◆ options_

optimization::proto::OptimizationProblemOptions cartographer::mapping::optimization::OptimizationProblem2D::options_

private

Definition at line 111 of file optimization_problem_2d.h.

◆ submap_data_

MapById<SubmapId, SubmapSpec2D> cartographer::mapping::optimization::OptimizationProblem2D::submap_data_

private

Definition at line 113 of file optimization_problem_2d.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ OptimizationProblem2D() [1/2]

◆ ~OptimizationProblem2D()

◆ OptimizationProblem2D() [2/2]

Member Function Documentation

◆ AddImuData()

◆ AddOdometryData()

◆ AddSubmap()

◆ AddTrajectoryNode()

◆ CalculateOdometryBetweenNodes()

◆ imu_data()

◆ InsertSubmap()

◆ InsertTrajectoryNode()

◆ InterpolateOdometry()

◆ landmark_data()

◆ node_data()

◆ odometry_data()

◆ operator=()

◆ SetMaxNumIterations()

◆ Solve()

◆ submap_data()

◆ TrimSubmap()

◆ TrimTrajectoryNode()

Member Data Documentation

◆ imu_data_

◆ landmark_data_

◆ node_data_

◆ odometry_data_

◆ options_

◆ submap_data_