NASA Astrobee Robot Software  0.16.6
Flight software for the Astrobee robot operating inside the International Space Station.
graph_localizer Namespace Reference

Classes

struct  CalibrationParams
 
class  CombinedNavStateGraphValues
 
struct  CombinedNavStateGraphValuesParams
 
class  CombinedNavStateNodeUpdater
 
struct  CombinedNavStateNodeUpdaterParams
 
class  DepthOdometryFactorAdder
 
struct  DepthOdometryFactorAdderParams
 
struct  FactorParams
 
struct  FeatureCounts
 
class  FeaturePointGraphValues
 
class  FeaturePointNodeUpdater
 
struct  FeaturePointNodeUpdaterParams
 
class  FeatureTrack
 
class  FeatureTracker
 
struct  FeatureTrackerParams
 
struct  GraphInitializerParams
 
class  GraphLocalizer
 
class  GraphLocalizerInitializer
 
class  GraphLocalizerNodelet
 
struct  GraphLocalizerNodeletParams
 
struct  GraphLocalizerParams
 
class  GraphLocalizerStats
 
class  GraphLocalizerWrapper
 
class  HandrailFactorAdder
 
struct  HandrailFactorAdderParams
 
struct  HandrailParams
 
class  LocFactorAdder
 
struct  LocFactorAdderParams
 
class  LocGraphActionCompleter
 
class  ProjectionFactorAdder
 
struct  ProjectionFactorAdderParams
 
class  ProjectionGraphActionCompleter
 
class  RotationFactorAdder
 
struct  RotationFactorAdderParams
 
class  SanityChecker
 
struct  SanityCheckerParams
 
class  SmartProjectionCumulativeFactorAdder
 
struct  SmartProjectionFactorAdderParams
 
class  SmartProjectionGraphActionCompleter
 
class  StandstillFactorAdder
 
struct  StandstillFactorAdderParams
 

Typedefs

using FeatureTrackIdMap = std::map< localization_measurements::FeatureId, std::shared_ptr< FeatureTrack > >
 
using FeatureTrackLengthMap = std::multimap< int, std::shared_ptr< FeatureTrack > >
 
using Calibration = gtsam::Cal3_S2
 
using Camera = gtsam::PinholePose< Calibration >
 
using RobustSmartFactor = gtsam::RobustSmartProjectionPoseFactor< Calibration >
 
using SharedRobustSmartFactor = boost::shared_ptr< RobustSmartFactor >
 
using ProjectionFactor = gtsam::GenericProjectionFactor< gtsam::Pose3, gtsam::Point3 >
 

Functions

void LoadCalibrationParams (config_reader::ConfigReader &config, CalibrationParams &params)
 
void LoadFactorParams (config_reader::ConfigReader &config, FactorParams &params)
 
void LoadDepthOdometryFactorAdderParams (config_reader::ConfigReader &config, DepthOdometryFactorAdderParams &params)
 
void LoadHandrailFactorAdderParams (config_reader::ConfigReader &config, HandrailFactorAdderParams &params)
 
void LoadLocFactorAdderParams (config_reader::ConfigReader &config, LocFactorAdderParams &params)
 
void LoadARTagLocFactorAdderParams (config_reader::ConfigReader &config, LocFactorAdderParams &params)
 
void LoadProjectionFactorAdderParams (config_reader::ConfigReader &config, ProjectionFactorAdderParams &params)
 
void LoadRotationFactorAdderParams (config_reader::ConfigReader &config, RotationFactorAdderParams &params)
 
void LoadSmartProjectionFactorAdderParams (config_reader::ConfigReader &config, SmartProjectionFactorAdderParams &params)
 
void LoadStandstillFactorAdderParams (config_reader::ConfigReader &config, StandstillFactorAdderParams &params)
 
void LoadFeatureTrackerParams (config_reader::ConfigReader &config, FeatureTrackerParams &params)
 
void LoadImuIntegrationParams (config_reader::ConfigReader &config, GraphInitializerParams &params)
 
void LoadSanityCheckerParams (config_reader::ConfigReader &config, SanityCheckerParams &params)
 
void LoadGraphInitializerParams (config_reader::ConfigReader &config, GraphInitializerParams &params)
 
void LoadCombinedNavStateGraphValuesParams (config_reader::ConfigReader &config, CombinedNavStateGraphValuesParams &params)
 
void LoadCombinedNavStateNodeUpdaterParams (config_reader::ConfigReader &config, CombinedNavStateNodeUpdaterParams &params)
 
void LoadFeaturePointNodeUpdaterParams (config_reader::ConfigReader &config, FeaturePointNodeUpdaterParams &params)
 
void LoadHandrailParams (config_reader::ConfigReader &config, HandrailParams &params)
 
void LoadGraphLocalizerParams (config_reader::ConfigReader &config, GraphLocalizerParams &params)
 
void LoadGraphLocalizerNodeletParams (config_reader::ConfigReader &config, GraphLocalizerNodeletParams &params)
 
std::string SerializeBinary (const GraphLocalizer &graph_localizer)
 
double Silu (const double x, gtsam::OptionalJacobian< 1, 1 > d_silu_d_x=boost::none)
 
double SiluWithOffset (const double x, const double offset, gtsam::OptionalJacobian< 1, 1 > d_silu_d_x=boost::none)
 
double SiluWithOffsetTwoWay (const double x, const double offset, gtsam::OptionalJacobian< 1, 1 > d_silu_d_x=boost::none)
 
localization_measurements::Plane RandomPlane ()
 
localization_measurements::DepthOdometryMeasurement DepthOdometryMeasurementFromPose (const Eigen::Isometry3d &pose, const localization_common::Time source_time, const localization_common::Time target_time)
 
CombinedNavStateGraphValuesParams DefaultCombinedNavStateGraphValuesParams ()
 
graph_optimizer::GraphOptimizerParams DefaultGraphOptimizerParams ()
 
CombinedNavStateNodeUpdaterParams DefaultCombinedNavStateNodeUpdaterParams ()
 
GraphInitializerParams DefaultGraphInitializerParams ()
 
GraphLocalizerParams DefaultGraphLocalizerParams ()
 
DepthOdometryFactorAdderParams DefaultDepthOdometryFactorAdderParams ()
 
bool ValidPointSet (const int num_points, const double average_distance_from_mean, const double min_avg_distance_from_mean, const int min_num_points)
 
double AverageDistanceFromMean (const std::vector< localization_measurements::FeaturePoint > &points)
 
bool ValidVLMsg (const ff_msgs::VisualLandmarks &visual_landmarks_msg, const int min_num_landmarks)
 
bool ValidDepthMsg (const ff_msgs::DepthLandmarks &depth_landmarks_msg)
 
ff_msgs::GraphState GraphStateMsg (const localization_common::CombinedNavState &combined_nav_state, const localization_common::CombinedNavStateCovariances &covariances, const FeatureCounts &detected_feature_counts, const bool estimating_bias, const double position_log_det_threshold, const double orientation_log_det_threshold, const bool standstill, const GraphLocalizerStats &graph_stats, const localization_measurements::FanSpeedMode fan_speed_mode)
 
ff_msgs::LocalizationGraph GraphMsg (const GraphLocalizer &graph_localizer)
 
geometry_msgs::PoseStamped PoseMsg (const Eigen::Isometry3d &global_T_body, const std_msgs::Header &header)
 
geometry_msgs::PoseStamped PoseMsg (const Eigen::Isometry3d &global_T_body, const localization_common::Time time)
 
geometry_msgs::PoseStamped PoseMsg (const gtsam::Pose3 &global_T_body, const localization_common::Time time)
 
geometry_msgs::PoseStamped PoseMsg (const localization_measurements::TimestampedPose &timestamped_pose)
 
gtsam::noiseModel::Robust::shared_ptr Robust (const gtsam::SharedNoiseModel &noise, const double huber_k)
 
boost::optional< SharedRobustSmartFactorFixSmartFactorByRemovingIndividualMeasurements (const SmartProjectionFactorAdderParams &params, const RobustSmartFactor &smart_factor, const gtsam::SmartProjectionParams &smart_projection_params, const CombinedNavStateGraphValues &graph_values)
 
boost::optional< SharedRobustSmartFactorFixSmartFactorByRemovingMeasurementSequence (const SmartProjectionFactorAdderParams &params, const RobustSmartFactor &smart_factor, const gtsam::SmartProjectionParams &smart_projection_params, const CombinedNavStateGraphValues &graph_values)
 
SharedRobustSmartFactor RemoveSmartFactorMeasurements (const RobustSmartFactor &smart_factor, const std::unordered_set< int > &factor_key_indices_to_remove, const SmartProjectionFactorAdderParams &params, const gtsam::SmartProjectionParams &smart_projection_params)
 
int NumSmartFactors (const gtsam::NonlinearFactorGraph &graph_factors, const gtsam::Values &values, const bool check_valid)
 
double AverageDistanceFromMean (const std::vector< lm::FeaturePoint > &points)
 

Typedef Documentation

◆ Calibration

using graph_localizer::Calibration = typedef gtsam::Cal3_S2

◆ Camera

using graph_localizer::Camera = typedef gtsam::PinholePose<Calibration>

◆ FeatureTrackIdMap

◆ FeatureTrackLengthMap

using graph_localizer::FeatureTrackLengthMap = typedef std::multimap<int, std::shared_ptr<FeatureTrack> >

◆ ProjectionFactor

using graph_localizer::ProjectionFactor = typedef gtsam::GenericProjectionFactor<gtsam::Pose3, gtsam::Point3>

◆ RobustSmartFactor

◆ SharedRobustSmartFactor

using graph_localizer::SharedRobustSmartFactor = typedef boost::shared_ptr<RobustSmartFactor>

Function Documentation

◆ AverageDistanceFromMean() [1/2]

double graph_localizer::AverageDistanceFromMean ( const std::vector< lm::FeaturePoint > &  points)

◆ AverageDistanceFromMean() [2/2]

double graph_localizer::AverageDistanceFromMean ( const std::vector< localization_measurements::FeaturePoint > &  points)

◆ DefaultCombinedNavStateGraphValuesParams()

CombinedNavStateGraphValuesParams graph_localizer::DefaultCombinedNavStateGraphValuesParams ( )

◆ DefaultCombinedNavStateNodeUpdaterParams()

CombinedNavStateNodeUpdaterParams graph_localizer::DefaultCombinedNavStateNodeUpdaterParams ( )

◆ DefaultDepthOdometryFactorAdderParams()

DepthOdometryFactorAdderParams graph_localizer::DefaultDepthOdometryFactorAdderParams ( )

◆ DefaultGraphInitializerParams()

GraphInitializerParams graph_localizer::DefaultGraphInitializerParams ( )

◆ DefaultGraphLocalizerParams()

GraphLocalizerParams graph_localizer::DefaultGraphLocalizerParams ( )

◆ DefaultGraphOptimizerParams()

go::GraphOptimizerParams graph_localizer::DefaultGraphOptimizerParams ( )

◆ DepthOdometryMeasurementFromPose()

lm::DepthOdometryMeasurement graph_localizer::DepthOdometryMeasurementFromPose ( const Eigen::Isometry3d &  pose,
const localization_common::Time  source_time,
const localization_common::Time  target_time 
)

◆ FixSmartFactorByRemovingIndividualMeasurements()

boost::optional< SharedRobustSmartFactor > graph_localizer::FixSmartFactorByRemovingIndividualMeasurements ( const SmartProjectionFactorAdderParams params,
const RobustSmartFactor smart_factor,
const gtsam::SmartProjectionParams &  smart_projection_params,
const CombinedNavStateGraphValues graph_values 
)

◆ FixSmartFactorByRemovingMeasurementSequence()

boost::optional< SharedRobustSmartFactor > graph_localizer::FixSmartFactorByRemovingMeasurementSequence ( const SmartProjectionFactorAdderParams params,
const RobustSmartFactor smart_factor,
const gtsam::SmartProjectionParams &  smart_projection_params,
const CombinedNavStateGraphValues graph_values 
)

◆ GraphMsg()

ff_msgs::LocalizationGraph graph_localizer::GraphMsg ( const GraphLocalizer graph_localizer)

◆ GraphStateMsg()

ff_msgs::GraphState graph_localizer::GraphStateMsg ( const localization_common::CombinedNavState combined_nav_state,
const localization_common::CombinedNavStateCovariances covariances,
const FeatureCounts detected_feature_counts,
const bool  estimating_bias,
const double  position_log_det_threshold,
const double  orientation_log_det_threshold,
const bool  standstill,
const GraphLocalizerStats graph_stats,
const localization_measurements::FanSpeedMode  fan_speed_mode 
)

◆ LoadARTagLocFactorAdderParams()

void graph_localizer::LoadARTagLocFactorAdderParams ( config_reader::ConfigReader config,
LocFactorAdderParams params 
)

◆ LoadCalibrationParams()

void graph_localizer::LoadCalibrationParams ( config_reader::ConfigReader config,
CalibrationParams params 
)

◆ LoadCombinedNavStateGraphValuesParams()

void graph_localizer::LoadCombinedNavStateGraphValuesParams ( config_reader::ConfigReader config,
CombinedNavStateGraphValuesParams params 
)

◆ LoadCombinedNavStateNodeUpdaterParams()

void graph_localizer::LoadCombinedNavStateNodeUpdaterParams ( config_reader::ConfigReader config,
CombinedNavStateNodeUpdaterParams params 
)

◆ LoadDepthOdometryFactorAdderParams()

void graph_localizer::LoadDepthOdometryFactorAdderParams ( config_reader::ConfigReader config,
DepthOdometryFactorAdderParams params 
)

◆ LoadFactorParams()

void graph_localizer::LoadFactorParams ( config_reader::ConfigReader config,
FactorParams params 
)

◆ LoadFeaturePointNodeUpdaterParams()

void graph_localizer::LoadFeaturePointNodeUpdaterParams ( config_reader::ConfigReader config,
FeaturePointNodeUpdaterParams params 
)

◆ LoadFeatureTrackerParams()

void graph_localizer::LoadFeatureTrackerParams ( config_reader::ConfigReader config,
FeatureTrackerParams params 
)

◆ LoadGraphInitializerParams()

void graph_localizer::LoadGraphInitializerParams ( config_reader::ConfigReader config,
GraphInitializerParams params 
)

◆ LoadGraphLocalizerNodeletParams()

void graph_localizer::LoadGraphLocalizerNodeletParams ( config_reader::ConfigReader config,
GraphLocalizerNodeletParams params 
)

◆ LoadGraphLocalizerParams()

void graph_localizer::LoadGraphLocalizerParams ( config_reader::ConfigReader config,
GraphLocalizerParams params 
)

◆ LoadHandrailFactorAdderParams()

void graph_localizer::LoadHandrailFactorAdderParams ( config_reader::ConfigReader config,
HandrailFactorAdderParams params 
)

◆ LoadHandrailParams()

void graph_localizer::LoadHandrailParams ( config_reader::ConfigReader config,
HandrailParams params 
)

◆ LoadImuIntegrationParams()

void graph_localizer::LoadImuIntegrationParams ( config_reader::ConfigReader config,
GraphInitializerParams params 
)

◆ LoadLocFactorAdderParams()

void graph_localizer::LoadLocFactorAdderParams ( config_reader::ConfigReader config,
LocFactorAdderParams params 
)

◆ LoadProjectionFactorAdderParams()

void graph_localizer::LoadProjectionFactorAdderParams ( config_reader::ConfigReader config,
ProjectionFactorAdderParams params 
)

◆ LoadRotationFactorAdderParams()

void graph_localizer::LoadRotationFactorAdderParams ( config_reader::ConfigReader config,
RotationFactorAdderParams params 
)

◆ LoadSanityCheckerParams()

void graph_localizer::LoadSanityCheckerParams ( config_reader::ConfigReader config,
SanityCheckerParams params 
)

◆ LoadSmartProjectionFactorAdderParams()

void graph_localizer::LoadSmartProjectionFactorAdderParams ( config_reader::ConfigReader config,
SmartProjectionFactorAdderParams params 
)

◆ LoadStandstillFactorAdderParams()

void graph_localizer::LoadStandstillFactorAdderParams ( config_reader::ConfigReader config,
StandstillFactorAdderParams params 
)

◆ NumSmartFactors()

int graph_localizer::NumSmartFactors ( const gtsam::NonlinearFactorGraph &  graph_factors,
const gtsam::Values &  values,
const bool  check_valid 
)

◆ PoseMsg() [1/4]

geometry_msgs::PoseStamped graph_localizer::PoseMsg ( const Eigen::Isometry3d &  global_T_body,
const localization_common::Time  time 
)

◆ PoseMsg() [2/4]

geometry_msgs::PoseStamped graph_localizer::PoseMsg ( const Eigen::Isometry3d &  global_T_body,
const std_msgs::Header &  header 
)

◆ PoseMsg() [3/4]

geometry_msgs::PoseStamped graph_localizer::PoseMsg ( const gtsam::Pose3 &  global_T_body,
const localization_common::Time  time 
)

◆ PoseMsg() [4/4]

geometry_msgs::PoseStamped graph_localizer::PoseMsg ( const localization_measurements::TimestampedPose timestamped_pose)

◆ RandomPlane()

localization_measurements::Plane graph_localizer::RandomPlane ( )

◆ RemoveSmartFactorMeasurements()

SharedRobustSmartFactor graph_localizer::RemoveSmartFactorMeasurements ( const RobustSmartFactor smart_factor,
const std::unordered_set< int > &  factor_key_indices_to_remove,
const SmartProjectionFactorAdderParams params,
const gtsam::SmartProjectionParams &  smart_projection_params 
)

◆ Robust()

gtsam::noiseModel::Robust::shared_ptr graph_localizer::Robust ( const gtsam::SharedNoiseModel &  noise,
const double  huber_k 
)

◆ SerializeBinary()

std::string graph_localizer::SerializeBinary ( const GraphLocalizer graph_localizer)

◆ Silu()

double graph_localizer::Silu ( const double  x,
gtsam::OptionalJacobian< 1, 1 >  d_silu_d_x = boost::none 
)

◆ SiluWithOffset()

double graph_localizer::SiluWithOffset ( const double  x,
const double  offset,
gtsam::OptionalJacobian< 1, 1 >  d_silu_d_x = boost::none 
)

◆ SiluWithOffsetTwoWay()

double graph_localizer::SiluWithOffsetTwoWay ( const double  x,
const double  offset,
gtsam::OptionalJacobian< 1, 1 >  d_silu_d_x = boost::none 
)

◆ ValidDepthMsg()

bool graph_localizer::ValidDepthMsg ( const ff_msgs::DepthLandmarks &  depth_landmarks_msg)

◆ ValidPointSet()

bool graph_localizer::ValidPointSet ( const int  num_points,
const double  average_distance_from_mean,
const double  min_avg_distance_from_mean,
const int  min_num_points 
)

◆ ValidVLMsg()

bool graph_localizer::ValidVLMsg ( const ff_msgs::VisualLandmarks &  visual_landmarks_msg,
const int  min_num_landmarks 
)