lvr2::GraphSLAM Class Reference

Wrapper class for running GraphSLAM on Scans. More...

#include <GraphSLAM.hpp>

Public Types
using	Graph = std::vector< std::pair< int, int > >
using	GraphMatrix = Eigen::SparseMatrix< double >
using	GraphVector = Eigen::VectorXd

Public Member Functions
void	doGraphSLAM (const std::vector< SLAMScanPtr > &scans, size_t last, const std::vector< bool > &new_scans=std::vector< bool >()) const
	runs the GraphSLAM algorithm More...
	GraphSLAM (const SLAMOptions *options)
virtual	~GraphSLAM ()=default

Protected Member Functions
void	createGraph (const std::vector< SLAMScanPtr > &scans, size_t last, Graph &graph) const
	Creates a graph. An edge between nodes(scans) means posible overlap. More...
void	eulerCovariance (KDTreePtr tree, SLAMScanPtr scan, Matrix6d &outMat, Vector6d &outVec) const
void	fillEquation (const std::vector< SLAMScanPtr > &scans, const Graph &graph, GraphMatrix &mat, GraphVector &vec) const
	A function to fill the linear system mat * x = vec. More...

Protected Attributes
const SLAMOptions *	m_options

Detailed Description

Wrapper class for running GraphSLAM on Scans.

Definition at line 61 of file GraphSLAM.hpp.

Member Typedef Documentation

Graph

using lvr2::GraphSLAM::Graph = std::vector<std::pair<int, int> >

Definition at line 67 of file GraphSLAM.hpp.

GraphMatrix

using lvr2::GraphSLAM::GraphMatrix = Eigen::SparseMatrix<double>

Definition at line 65 of file GraphSLAM.hpp.

GraphVector

using lvr2::GraphSLAM::GraphVector = Eigen::VectorXd

Definition at line 66 of file GraphSLAM.hpp.

Constructor & Destructor Documentation

GraphSLAM()

lvr2::GraphSLAM::GraphSLAM

(

const SLAMOptions *

options

)

Definition at line 117 of file GraphSLAM.cpp.

~GraphSLAM()

virtual lvr2::GraphSLAM::~GraphSLAM ( )

virtualdefault

Member Function Documentation

createGraph()

void lvr2::GraphSLAM::createGraph ( const std::vector< SLAMScanPtr > &  scans, size_t  last, Graph &  graph  ) const

protected

Creates a graph. An edge between nodes(scans) means posible overlap.

Parameters

scans	reference to a vector containing the SlamScanPtr
last	number of the last considered scan
graph	Outputs the created graph

Definition at line 243 of file GraphSLAM.cpp.

doGraphSLAM()

void lvr2::GraphSLAM::doGraphSLAM	(	const std::vector< SLAMScanPtr > &	scans,
		size_t	last,
		const std::vector< bool > &	new_scans = std::vector<bool>()
	)		const

runs the GraphSLAM algorithm

Parameters

scans	The scans to work on
last	The index of the last Scan to consider. scans may be longer, but anything after last will be ignored

Definition at line 122 of file GraphSLAM.cpp.

eulerCovariance()

void lvr2::GraphSLAM::eulerCovariance ( KDTreePtr  tree, SLAMScanPtr  scan, Matrix6d &  outMat, Vector6d &  outVec  ) const

protected

Definition at line 392 of file GraphSLAM.cpp.

fillEquation()

void lvr2::GraphSLAM::fillEquation ( const std::vector< SLAMScanPtr > &  scans, const Graph &  graph, GraphMatrix &  mat, GraphVector &  vec  ) const

protected

A function to fill the linear system mat * x = vec.

Parameters

scans	reference to a vector containing the SlamScanPtr
graph	the graph created in the createGraph function
mat	Outputs the GraphMatrix
vec	Outputs the GraphVector

Definition at line 266 of file GraphSLAM.cpp.

Member Data Documentation

m_options

const SLAMOptions* lvr2::GraphSLAM::m_options

protected

Definition at line 102 of file GraphSLAM.hpp.

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

• GraphSLAM.hpp
• GraphSLAM.cpp