cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType > Class Template Reference

#include <optimization_problem_interface.h>

Public Types
using	Constraint = PoseGraphInterface::Constraint
using	LandmarkNode = PoseGraphInterface::LandmarkNode

Public Member Functions
virtual void	AddImuData (int trajectory_id, const sensor::ImuData &imu_data)=0
virtual void	AddOdometryData (int trajectory_id, const sensor::OdometryData &odometry_data)=0
virtual void	AddSubmap (int trajectory_id, const RigidTransformType &global_submap_pose)=0
virtual void	AddTrajectoryNode (int trajectory_id, const NodeDataType &node_data)=0
virtual const sensor::MapByTime< sensor::ImuData > &	imu_data () const =0
virtual void	InsertSubmap (const SubmapId &submap_id, const RigidTransformType &global_submap_pose)=0
virtual void	InsertTrajectoryNode (const NodeId &node_id, const NodeDataType &node_data)=0
virtual const std::map< std::string, transform::Rigid3d > &	landmark_data () const =0
virtual const MapById< NodeId, NodeDataType > &	node_data () const =0
virtual const sensor::MapByTime< sensor::OdometryData > &	odometry_data () const =0
OptimizationProblemInterface &	operator= (const OptimizationProblemInterface &)=delete
	OptimizationProblemInterface ()
	OptimizationProblemInterface (const OptimizationProblemInterface &)=delete
virtual void	SetMaxNumIterations (int32 max_num_iterations)=0
virtual void	Solve (const std::vector< Constraint > &constraints, const std::set< int > &frozen_trajectories, const std::map< std::string, LandmarkNode > &landmark_nodes)=0
virtual const MapById< SubmapId, SubmapDataType > &	submap_data () const =0
virtual void	TrimSubmap (const SubmapId &submap_id)=0
virtual void	TrimTrajectoryNode (const NodeId &node_id)=0
virtual	~OptimizationProblemInterface ()

Detailed Description

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>
class cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >

Definition at line 41 of file optimization_problem_interface.h.

Member Typedef Documentation

Constraint

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

using cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::Constraint = PoseGraphInterface::Constraint

Definition at line 43 of file optimization_problem_interface.h.

LandmarkNode

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

using cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::LandmarkNode = PoseGraphInterface::LandmarkNode

Definition at line 44 of file optimization_problem_interface.h.

Constructor & Destructor Documentation

OptimizationProblemInterface() [1/2]

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::OptimizationProblemInterface ( )

inline

Definition at line 46 of file optimization_problem_interface.h.

~OptimizationProblemInterface()

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

virtual cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::~OptimizationProblemInterface ( )

inlinevirtual

Definition at line 47 of file optimization_problem_interface.h.

OptimizationProblemInterface() [2/2]

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::OptimizationProblemInterface ( const OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType > &  )

delete

Member Function Documentation

AddImuData()

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

virtual void cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::AddImuData ( int  trajectory_id, const sensor::ImuData &  imu_data  )

pure virtual

Implemented in cartographer::mapping::optimization::OptimizationProblem2D, and cartographer::mapping::optimization::OptimizationProblem3D.

AddOdometryData()

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

virtual void cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::AddOdometryData ( int  trajectory_id, const sensor::OdometryData &  odometry_data  )

pure virtual

Implemented in cartographer::mapping::optimization::OptimizationProblem2D, and cartographer::mapping::optimization::OptimizationProblem3D.

AddSubmap()

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

virtual void cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::AddSubmap ( int  trajectory_id, const RigidTransformType &  global_submap_pose  )

pure virtual

Implemented in cartographer::mapping::optimization::OptimizationProblem2D, and cartographer::mapping::optimization::OptimizationProblem3D.

AddTrajectoryNode()

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

virtual void cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::AddTrajectoryNode ( int  trajectory_id, const NodeDataType &  node_data  )

pure virtual

Implemented in cartographer::mapping::optimization::OptimizationProblem2D, and cartographer::mapping::optimization::OptimizationProblem3D.

imu_data()

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

virtual const sensor::MapByTime<sensor::ImuData>& cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::imu_data ( ) const

pure virtual

Implemented in cartographer::mapping::optimization::OptimizationProblem2D, and cartographer::mapping::optimization::OptimizationProblem3D.

InsertSubmap()

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

virtual void cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::InsertSubmap ( const SubmapId &  submap_id, const RigidTransformType &  global_submap_pose  )

pure virtual

Implemented in cartographer::mapping::optimization::OptimizationProblem2D, and cartographer::mapping::optimization::OptimizationProblem3D.

InsertTrajectoryNode()

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

virtual void cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::InsertTrajectoryNode ( const NodeId &  node_id, const NodeDataType &  node_data  )

pure virtual

Implemented in cartographer::mapping::optimization::OptimizationProblem2D, and cartographer::mapping::optimization::OptimizationProblem3D.

landmark_data()

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

virtual const std::map<std::string, transform::Rigid3d>& cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::landmark_data ( ) const

pure virtual

Implemented in cartographer::mapping::optimization::OptimizationProblem2D, and cartographer::mapping::optimization::OptimizationProblem3D.

node_data()

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

virtual const MapById<NodeId, NodeDataType>& cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::node_data ( ) const

pure virtual

Implemented in cartographer::mapping::optimization::OptimizationProblem2D, and cartographer::mapping::optimization::OptimizationProblem3D.

odometry_data()

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

virtual const sensor::MapByTime<sensor::OdometryData>& cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::odometry_data ( ) const

pure virtual

Implemented in cartographer::mapping::optimization::OptimizationProblem2D, and cartographer::mapping::optimization::OptimizationProblem3D.

operator=()

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

OptimizationProblemInterface& cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::operator= ( const OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType > &  )

delete

SetMaxNumIterations()

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

virtual void cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::SetMaxNumIterations ( int32  max_num_iterations )

pure virtual

Implemented in cartographer::mapping::optimization::OptimizationProblem2D, and cartographer::mapping::optimization::OptimizationProblem3D.

Solve()

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

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

pure virtual

submap_data()

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

virtual const MapById<SubmapId, SubmapDataType>& cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::submap_data ( ) const

pure virtual

Implemented in cartographer::mapping::optimization::OptimizationProblem2D, and cartographer::mapping::optimization::OptimizationProblem3D.

TrimSubmap()

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

virtual void cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::TrimSubmap ( const SubmapId &  submap_id )

pure virtual

Implemented in cartographer::mapping::optimization::OptimizationProblem2D, and cartographer::mapping::optimization::OptimizationProblem3D.

TrimTrajectoryNode()

template<typename NodeDataType, typename SubmapDataType, typename RigidTransformType>

virtual void cartographer::mapping::optimization::OptimizationProblemInterface< NodeDataType, SubmapDataType, RigidTransformType >::TrimTrajectoryNode ( const NodeId &  node_id )

pure virtual

Implemented in cartographer::mapping::optimization::OptimizationProblem2D, and cartographer::mapping::optimization::OptimizationProblem3D.

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

• optimization_problem_interface.h