Public Member Functions | Private Member Functions | Private Attributes | List of all members
cartographer::mapping::optimization::OptimizationProblem3D Class Reference

#include <optimization_problem_3d.h>

Inheritance diagram for cartographer::mapping::optimization::OptimizationProblem3D:
Inheritance graph
[legend]

Public Member Functions

void AddFixedFramePoseData (int trajectory_id, const sensor::FixedFramePoseData &fixed_frame_pose_data)
 
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::Rigid3d &global_submap_pose) override
 
void AddTrajectoryNode (int trajectory_id, const NodeSpec3D &node_data) override
 
const sensor::MapByTime< sensor::FixedFramePoseData > & fixed_frame_pose_data () const
 
const sensor::MapByTime< sensor::ImuData > & imu_data () const override
 
void InsertSubmap (const SubmapId &submap_id, const transform::Rigid3d &global_submap_pose) override
 
void InsertTrajectoryNode (const NodeId &node_id, const NodeSpec3D &node_data) override
 
const std::map< std::string, transform::Rigid3d > & landmark_data () const override
 
const MapById< NodeId, NodeSpec3D > & node_data () const override
 
const sensor::MapByTime< sensor::OdometryData > & odometry_data () const override
 
OptimizationProblem3D & operator= (const OptimizationProblem3D &)=delete
 
 OptimizationProblem3D (const optimization::proto::OptimizationProblemOptions &options)
 
 OptimizationProblem3D (const OptimizationProblem3D &)=delete
 
void SetMaxNumIterations (int32 max_num_iterations) override
 
void SetTrajectoryData (int trajectory_id, const PoseGraphInterface::TrajectoryData &trajectory_data)
 
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, SubmapSpec3D > & submap_data () const override
 
const std::map< int, PoseGraphInterface::TrajectoryData > & trajectory_data () const
 
void TrimSubmap (const SubmapId &submap_id) override
 
void TrimTrajectoryNode (const NodeId &node_id) override
 
 ~OptimizationProblem3D ()
 
- Public Member Functions inherited from cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec3D, SubmapSpec3D, transform::Rigid3d >
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 NodeSpec3D &first_node_data, const NodeSpec3D &second_node_data) const
 

Private Attributes

sensor::MapByTime< sensor::FixedFramePoseData > fixed_frame_pose_data_
 
sensor::MapByTime< sensor::ImuData > imu_data_
 
std::map< std::string, transform::Rigid3d > landmark_data_
 
MapById< NodeId, NodeSpec3D > node_data_
 
sensor::MapByTime< sensor::OdometryData > odometry_data_
 
optimization::proto::OptimizationProblemOptions options_
 
MapById< SubmapId, SubmapSpec3D > submap_data_
 
std::map< int, PoseGraphInterface::TrajectoryData > trajectory_data_
 

Additional Inherited Members

- Public Types inherited from cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec3D, SubmapSpec3D, transform::Rigid3d >
using Constraint = PoseGraphInterface::Constraint
 
using LandmarkNode = PoseGraphInterface::LandmarkNode
 

Detailed Description

Definition at line 54 of file optimization_problem_3d.h.

Constructor & Destructor Documentation

◆ OptimizationProblem3D() [1/2]

cartographer::mapping::optimization::OptimizationProblem3D::OptimizationProblem3D ( const optimization::proto::OptimizationProblemOptions &  options)
explicit

Definition at line 190 of file optimization_problem_3d.cc.

◆ ~OptimizationProblem3D()

cartographer::mapping::optimization::OptimizationProblem3D::~OptimizationProblem3D ( )

Definition at line 194 of file optimization_problem_3d.cc.

◆ OptimizationProblem3D() [2/2]

cartographer::mapping::optimization::OptimizationProblem3D::OptimizationProblem3D ( const OptimizationProblem3D &  )
delete

Member Function Documentation

◆ AddFixedFramePoseData()

void cartographer::mapping::optimization::OptimizationProblem3D::AddFixedFramePoseData ( int  trajectory_id,
const sensor::FixedFramePoseData &  fixed_frame_pose_data 
)

Definition at line 206 of file optimization_problem_3d.cc.

◆ AddImuData()

void cartographer::mapping::optimization::OptimizationProblem3D::AddImuData ( int  trajectory_id,
const sensor::ImuData &  imu_data 
)
overridevirtual

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec3D, SubmapSpec3D, transform::Rigid3d >.

Definition at line 196 of file optimization_problem_3d.cc.

◆ AddOdometryData()

void cartographer::mapping::optimization::OptimizationProblem3D::AddOdometryData ( int  trajectory_id,
const sensor::OdometryData &  odometry_data 
)
overridevirtual

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec3D, SubmapSpec3D, transform::Rigid3d >.

Definition at line 201 of file optimization_problem_3d.cc.

◆ AddSubmap()

void cartographer::mapping::optimization::OptimizationProblem3D::AddSubmap ( int  trajectory_id,
const transform::Rigid3d &  global_submap_pose 
)
overridevirtual

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec3D, SubmapSpec3D, transform::Rigid3d >.

Definition at line 239 of file optimization_problem_3d.cc.

◆ AddTrajectoryNode()

void cartographer::mapping::optimization::OptimizationProblem3D::AddTrajectoryNode ( int  trajectory_id,
const NodeSpec3D &  node_data 
)
overridevirtual

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec3D, SubmapSpec3D, transform::Rigid3d >.

Definition at line 212 of file optimization_problem_3d.cc.

◆ CalculateOdometryBetweenNodes()

std::unique_ptr< transform::Rigid3d > cartographer::mapping::optimization::OptimizationProblem3D::CalculateOdometryBetweenNodes ( int  trajectory_id,
const NodeSpec3D &  first_node_data,
const NodeSpec3D &  second_node_data 
) const
private

Definition at line 590 of file optimization_problem_3d.cc.

◆ fixed_frame_pose_data()

const sensor::MapByTime<sensor::FixedFramePoseData>& cartographer::mapping::optimization::OptimizationProblem3D::fixed_frame_pose_data ( ) const
inline

Definition at line 109 of file optimization_problem_3d.h.

◆ imu_data()

const sensor::MapByTime<sensor::ImuData>& cartographer::mapping::optimization::OptimizationProblem3D::imu_data ( ) const
inlineoverridevirtual

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec3D, SubmapSpec3D, transform::Rigid3d >.

Definition at line 95 of file optimization_problem_3d.h.

◆ InsertSubmap()

void cartographer::mapping::optimization::OptimizationProblem3D::InsertSubmap ( const SubmapId &  submap_id,
const transform::Rigid3d &  global_submap_pose 
)
overridevirtual

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec3D, SubmapSpec3D, transform::Rigid3d >.

Definition at line 244 of file optimization_problem_3d.cc.

◆ InsertTrajectoryNode()

void cartographer::mapping::optimization::OptimizationProblem3D::InsertTrajectoryNode ( const NodeId &  node_id,
const NodeSpec3D &  node_data 
)
overridevirtual

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec3D, SubmapSpec3D, transform::Rigid3d >.

Definition at line 223 of file optimization_problem_3d.cc.

◆ landmark_data()

const std::map<std::string, transform::Rigid3d>& cartographer::mapping::optimization::OptimizationProblem3D::landmark_data ( ) const
inlineoverridevirtual

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec3D, SubmapSpec3D, transform::Rigid3d >.

Definition at line 91 of file optimization_problem_3d.h.

◆ node_data()

const MapById<NodeId, NodeSpec3D>& cartographer::mapping::optimization::OptimizationProblem3D::node_data ( ) const
inlineoverridevirtual

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec3D, SubmapSpec3D, transform::Rigid3d >.

Definition at line 85 of file optimization_problem_3d.h.

◆ odometry_data()

const sensor::MapByTime<sensor::OdometryData>& cartographer::mapping::optimization::OptimizationProblem3D::odometry_data ( ) const
inlineoverridevirtual

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec3D, SubmapSpec3D, transform::Rigid3d >.

Definition at line 98 of file optimization_problem_3d.h.

◆ operator=()

OptimizationProblem3D& cartographer::mapping::optimization::OptimizationProblem3D::operator= ( const OptimizationProblem3D &  )
delete

◆ SetMaxNumIterations()

void cartographer::mapping::optimization::OptimizationProblem3D::SetMaxNumIterations ( int32  max_num_iterations)
overridevirtual

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec3D, SubmapSpec3D, transform::Rigid3d >.

Definition at line 253 of file optimization_problem_3d.cc.

◆ SetTrajectoryData()

void cartographer::mapping::optimization::OptimizationProblem3D::SetTrajectoryData ( int  trajectory_id,
const PoseGraphInterface::TrajectoryData &  trajectory_data 
)

Definition at line 218 of file optimization_problem_3d.cc.

◆ Solve()

void cartographer::mapping::optimization::OptimizationProblem3D::Solve ( const std::vector< Constraint > &  constraints,
const std::set< int > &  frozen_trajectories,
const std::map< std::string, LandmarkNode > &  landmark_nodes 
)
override

Definition at line 259 of file optimization_problem_3d.cc.

◆ submap_data()

const MapById<SubmapId, SubmapSpec3D>& cartographer::mapping::optimization::OptimizationProblem3D::submap_data ( ) const
inlineoverridevirtual

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec3D, SubmapSpec3D, transform::Rigid3d >.

Definition at line 88 of file optimization_problem_3d.h.

◆ trajectory_data()

const std::map<int, PoseGraphInterface::TrajectoryData>& cartographer::mapping::optimization::OptimizationProblem3D::trajectory_data ( ) const
inline

Definition at line 113 of file optimization_problem_3d.h.

◆ TrimSubmap()

void cartographer::mapping::optimization::OptimizationProblem3D::TrimSubmap ( const SubmapId &  submap_id)
overridevirtual

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec3D, SubmapSpec3D, transform::Rigid3d >.

Definition at line 249 of file optimization_problem_3d.cc.

◆ TrimTrajectoryNode()

void cartographer::mapping::optimization::OptimizationProblem3D::TrimTrajectoryNode ( const NodeId &  node_id)
overridevirtual

Implements cartographer::mapping::optimization::OptimizationProblemInterface< NodeSpec3D, SubmapSpec3D, transform::Rigid3d >.

Definition at line 229 of file optimization_problem_3d.cc.

Member Data Documentation

◆ fixed_frame_pose_data_

sensor::MapByTime<sensor::FixedFramePoseData> cartographer::mapping::optimization::OptimizationProblem3D::fixed_frame_pose_data_
private

Definition at line 130 of file optimization_problem_3d.h.

◆ imu_data_

sensor::MapByTime<sensor::ImuData> cartographer::mapping::optimization::OptimizationProblem3D::imu_data_
private

Definition at line 128 of file optimization_problem_3d.h.

◆ landmark_data_

std::map<std::string, transform::Rigid3d> cartographer::mapping::optimization::OptimizationProblem3D::landmark_data_
private

Definition at line 127 of file optimization_problem_3d.h.

◆ node_data_

MapById<NodeId, NodeSpec3D> cartographer::mapping::optimization::OptimizationProblem3D::node_data_
private

Definition at line 125 of file optimization_problem_3d.h.

◆ odometry_data_

sensor::MapByTime<sensor::OdometryData> cartographer::mapping::optimization::OptimizationProblem3D::odometry_data_
private

Definition at line 129 of file optimization_problem_3d.h.

◆ options_

optimization::proto::OptimizationProblemOptions cartographer::mapping::optimization::OptimizationProblem3D::options_
private

Definition at line 124 of file optimization_problem_3d.h.

◆ submap_data_

MapById<SubmapId, SubmapSpec3D> cartographer::mapping::optimization::OptimizationProblem3D::submap_data_
private

Definition at line 126 of file optimization_problem_3d.h.

◆ trajectory_data_

std::map<int, PoseGraphInterface::TrajectoryData> cartographer::mapping::optimization::OptimizationProblem3D::trajectory_data_
private

Definition at line 131 of file optimization_problem_3d.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