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CartographerAdapter Class Reference

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

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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
 

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 119 of file CartographerAdapter.cpp.

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◆ ~CartographerAdapter()

~CartographerAdapter ( )
virtual

Definition at line 106 of file CartographerAdapter.cpp.

Member Function Documentation

◆ createMap()

bool createMap ( const armarx::PackagePath & mapOutputPath)

Definition at line 656 of file CartographerAdapter.cpp.

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◆ getMapBuilder()

cartographer::mapping::MapBuilderInterface & getMapBuilder ( )

Definition at line 764 of file CartographerAdapter.cpp.

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◆ hasReceivedSensorData()

bool hasReceivedSensorData ( ) const
noexcept

Definition at line 620 of file CartographerAdapter.cpp.

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◆ laserSensorIds()

std::vector< std::string > laserSensorIds ( ) const

Definition at line 726 of file CartographerAdapter.cpp.

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◆ numConstraints()

unsigned int numConstraints ( ) const

Definition at line 752 of file CartographerAdapter.cpp.

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◆ onTimedDataAvailable()

void onTimedDataAvailable ( const TimedData & data)
overridevirtual

Implements MessageCallee.

Definition at line 272 of file CartographerAdapter.cpp.

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◆ optimizedGraphData()

OptimizedGraphData optimizedGraphData ( ) const
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◆ processOdometryPose()

void processOdometryPose ( OdomData odomData)

Definition at line 498 of file CartographerAdapter.cpp.

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◆ processSensorValues()

void processSensorValues ( LaserScannerMessage data)

Definition at line 513 of file CartographerAdapter.cpp.

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◆ setSensorPose()

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

Definition at line 714 of file CartographerAdapter.cpp.

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