Class MapBuilderBridge

Defined in File map_builder_bridge.h

Nested Relationships

Nested Types

Class Documentation

class MapBuilderBridge

Public Functions

MapBuilderBridge(const NodeOptions &node_options, std::unique_ptr<cartographer::mapping::MapBuilderInterface> map_builder, tf2_ros::Buffer *tf_buffer)

MapBuilderBridge(const MapBuilderBridge&) = delete

MapBuilderBridge &operator=(const MapBuilderBridge&) = delete

void LoadState(const std::string &state_filename, bool load_frozen_state)

int AddTrajectory(const std::set<::cartographer::mapping::TrajectoryBuilderInterface::SensorId> &expected_sensor_ids, const TrajectoryOptions &trajectory_options)

void FinishTrajectory(int trajectory_id)

void RunFinalOptimization()

bool SerializeState(const std::string &filename, const bool include_unfinished_submaps)

void HandleSubmapQuery(const cartographer_ros_msgs::srv::SubmapQuery::Request::SharedPtr request, cartographer_ros_msgs::srv::SubmapQuery::Response::SharedPtr response)

void HandleTrajectoryQuery(const cartographer_ros_msgs::srv::TrajectoryQuery::Request::SharedPtr request, cartographer_ros_msgs::srv::TrajectoryQuery::Response::SharedPtr response)

std::map<int, ::cartographer::mapping::PoseGraphInterface::TrajectoryState> GetTrajectoryStates()

cartographer_ros_msgs::msg::SubmapList GetSubmapList(rclcpp::Time node_time)

std::unordered_map< int, LocalTrajectoryData > GetLocalTrajectoryData () LOCKS_EXCLUDED(mutex_)

visualization_msgs::msg::MarkerArray GetTrajectoryNodeList(rclcpp::Time node_time)

visualization_msgs::msg::MarkerArray GetLandmarkPosesList(rclcpp::Time node_time)

visualization_msgs::msg::MarkerArray GetConstraintList(rclcpp::Time node_time)

SensorBridge *sensor_bridge(int trajectory_id)

struct LocalTrajectoryData

Public Members

std::shared_ptr<const LocalSlamData> local_slam_data

cartographer::transform::Rigid3d local_to_map

std::unique_ptr<cartographer::transform::Rigid3d> published_to_tracking

TrajectoryOptions trajectory_options

struct LocalSlamData

Public Members

::cartographer::common::Time time

::cartographer::transform::Rigid3d local_pose

::cartographer::sensor::RangeData range_data_in_local