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 |
| unsigned int | numConstraints () 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 |
Member Typedef Documentation
◆ SensorId
| using SensorId = ::cartographer::mapping::TrajectoryBuilderInterface::SensorId |
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 ) |
◆ ~CartographerAdapter()
|
virtual |
Member Function Documentation
◆ createMap()
| bool createMap | ( | const armarx::PackagePath & | mapOutputPath | ) |
◆ getMapBuilder()
| cartographer::mapping::MapBuilderInterface & getMapBuilder | ( | ) |
◆ hasReceivedSensorData()
|
noexcept |
◆ laserSensorIds()
| std::vector< std::string > laserSensorIds | ( | ) | const |
◆ numConstraints()
| unsigned int numConstraints | ( | ) | const |
◆ onTimedDataAvailable()
|
overridevirtual |
Implements MessageCallee.
◆ optimizedGraphData()
| OptimizedGraphData optimizedGraphData | ( | ) | const |
◆ processOdometryPose()
| void processOdometryPose | ( | OdomData | odomData | ) |
◆ processSensorValues()
| void processSensorValues | ( | LaserScannerMessage | data | ) |
◆ setSensorPose()
| void setSensorPose | ( | const std::string & | sensorId, |
| const Eigen::Isometry3f & | pose ) |
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
