CartographerAdapter Class Reference

#include <armarx/localization_and_mapping/cartographer_adapter/CartographerAdapter.h>

Inheritance diagram for CartographerAdapter:

Classes
struct	Config
class	LaserScannerSensor
struct	OdomData

Public Types
using	SensorId = ::cartographer::mapping::TrajectoryBuilderInterface::SensorId

Public Member Functions
	CartographerAdapter (const std::filesystem::path &mapPath, const std::filesystem::path &configPath, SlamDataCallable &slamDataCallable, const Config &config, const std::optional< std::filesystem::path > &mapToLoad=std::nullopt, const std::optional< Eigen::Isometry3f > &map_T_robot_prior=std::nullopt, const DebugObserverInterfacePrx &debugObserver=nullptr)
bool	createMap (const armarx::PackagePath &mapOutputPath)
::cartographer::mapping::MapBuilderInterface &	getMapBuilder ()
bool	hasReceivedSensorData () const noexcept
std::vector< std::string >	laserSensorIds () const
void	onTimedDataAvailable (const TimedData &data) override
OptimizedGraphData	optimizedGraphData () const
void	processOdometryPose (OdomData odomData)
void	processSensorValues (LaserScannerMessage data)
void	setSensorPose (const std::string &sensorId, const Eigen::Isometry3f &pose)
virtual	~CartographerAdapter ()
Public Member Functions inherited from MessageCallee
virtual	~MessageCallee ()=default

Detailed Description

Definition at line 63 of file CartographerAdapter.h.

Member Typedef Documentation

SensorId

using SensorId = ::cartographer::mapping::TrajectoryBuilderInterface::SensorId

Definition at line 111 of file CartographerAdapter.h.

Constructor & Destructor Documentation

CartographerAdapter()

CartographerAdapter	(	const std::filesystem::path &	mapPath,
		const std::filesystem::path &	configPath,
		SlamDataCallable &	slamDataCallable,
		const Config &	config,
		const std::optional< std::filesystem::path > &	mapToLoad = std::nullopt,
		const std::optional< Eigen::Isometry3f > &	map_T_robot_prior = std::nullopt,
		const DebugObserverInterfacePrx &	debugObserver = nullptr
	)

Definition at line 118 of file CartographerAdapter.cpp.

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~CartographerAdapter()

~CartographerAdapter ( )

virtual

Definition at line 105 of file CartographerAdapter.cpp.

Member Function Documentation

createMap()

bool createMap

(

const armarx::PackagePath &

mapOutputPath

)

Definition at line 643 of file CartographerAdapter.cpp.

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getMapBuilder()

::cartographer::mapping::MapBuilderInterface& getMapBuilder ( )

inline

Definition at line 141 of file CartographerAdapter.h.

hasReceivedSensorData()

bool hasReceivedSensorData ( ) const

noexcept

Definition at line 607 of file CartographerAdapter.cpp.

laserSensorIds()

std::vector< std::string > laserSensorIds

(

)

const

Definition at line 712 of file CartographerAdapter.cpp.

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onTimedDataAvailable()

void onTimedDataAvailable ( const TimedData &  data )

overridevirtual

Implements MessageCallee.

Definition at line 271 of file CartographerAdapter.cpp.

optimizedGraphData()

OptimizedGraphData optimizedGraphData

(

)

const

processOdometryPose()

void processOdometryPose

(

OdomData

odomData

)

Definition at line 497 of file CartographerAdapter.cpp.

processSensorValues()

void processSensorValues

(

LaserScannerMessage

data

)

Definition at line 512 of file CartographerAdapter.cpp.

setSensorPose()

void setSensorPose	(	const std::string &	sensorId,
		const Eigen::Isometry3f &	pose
	)

Definition at line 700 of file CartographerAdapter.cpp.

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

• armarx/localization_and_mapping/cartographer_adapter/CartographerAdapter.h
• armarx/localization_and_mapping/cartographer_adapter/CartographerAdapter.cpp