#include <graph_localizer.h>

Inheritance diagram for graph_localizer::GraphLocalizer:

Public Member Functions
	GraphLocalizer (const GraphLocalizerParams &params)

	GraphLocalizer ()

void	AddPoseMeasurement (const localization_measurements::PoseWithCovarianceMeasurement &pose_measurement)

void	AddSparseMapMatchedProjectionsMeasurement (const localization_measurements::MatchedProjectionsMeasurement &matched_projections_measurement)

void	AddArTagMatchedProjectionsMeasurement (const localization_measurements::MatchedProjectionsMeasurement &matched_projections_measurement)

const nodes::TimestampedNodes< gtsam::Pose3 > &	pose_nodes () const

void	SetPoseCovarianceInterpolater (const std::shared_ptr< localization_common::MarginalsPoseCovarianceInterpolater< nodes::CombinedNavStateNodes >> &pose_covariance_interpolater)

Public Member Functions inherited from sliding_window_graph_optimizer::SlidingWindowGraphOptimizer
	SlidingWindowGraphOptimizer (const SlidingWindowGraphOptimizerParams &params, std::unique_ptr< optimizers::Optimizer > optimizer)

virtual	~SlidingWindowGraphOptimizer ()=default

	SlidingWindowGraphOptimizer ()

void	AddSlidingWindowNodeAdder (std::shared_ptr< node_adders::SlidingWindowNodeAdder > sliding_window_node_adder)

bool	Update ()

const localization_common::Timer &	update_timer () const

double	Duration () const

Public Member Functions inherited from graph_optimizer::GraphOptimizer
	GraphOptimizer (const GraphOptimizerParams &params, std::unique_ptr< optimizers::Optimizer > optimizer)

	GraphOptimizer ()

virtual	~GraphOptimizer ()=default

void	AddNodeAdder (std::shared_ptr< node_adders::NodeAdder > node_adder)

void	AddFactorAdder (std::shared_ptr< factor_adders::FactorAdder > factor_adder)

int	AddFactors (const localization_common::Time start_time, const localization_common::Time end_time)

int	AddFactors (const std::pair< localization_common::Time, localization_common::Time > &start_and_end_time)

bool	Optimize ()

boost::optional< gtsam::Matrix >	Covariance (const gtsam::Key &key) const

boost::optional< gtsam::Matrix >	Covariance (const gtsam::Key &key_a, const gtsam::Key &key_b) const

const gtsam::NonlinearFactorGraph &	factors () const

gtsam::NonlinearFactorGraph &	factors ()

template<typename FactorType >
std::vector< boost::shared_ptr< const FactorType > >	Factors () const

int	num_factors () const

template<typename FactorType >
int	NumFactors () const

int	num_values () const

const GraphOptimizerParams &	params () const

std::shared_ptr< nodes::Values >	values ()

const gtsam::Values &	gtsam_values () const

localization_common::StatsLogger &	stats_logger ()

const localization_common::Timer &	optimization_timer () const

const localization_common::Averager &	optimization_iterations_averager () const

double	TotalGraphError () const

virtual bool	ValidGraph () const

virtual void	Print () const

void	SaveGraphDotFile (const std::string &output_path="graph.dot") const

boost::optional< const gtsam::Marginals & >	marginals () const

Friends
class	boost::serialization::access

Constructor & Destructor Documentation

◆ GraphLocalizer() [1/2]

graph_localizer::GraphLocalizer::GraphLocalizer ( const GraphLocalizerParams & params )

explicit

◆ GraphLocalizer() [2/2]

graph_localizer::GraphLocalizer::GraphLocalizer ( )

inline

Member Function Documentation

◆ AddArTagMatchedProjectionsMeasurement()

void graph_localizer::GraphLocalizer::AddArTagMatchedProjectionsMeasurement ( const localization_measurements::MatchedProjectionsMeasurement & matched_projections_measurement )

◆ AddPoseMeasurement()

void graph_localizer::GraphLocalizer::AddPoseMeasurement ( const localization_measurements::PoseWithCovarianceMeasurement & pose_measurement )

◆ AddSparseMapMatchedProjectionsMeasurement()

void graph_localizer::GraphLocalizer::AddSparseMapMatchedProjectionsMeasurement ( const localization_measurements::MatchedProjectionsMeasurement & matched_projections_measurement )

◆ pose_nodes()

const no::TimestampedNodes< gtsam::Pose3 > & graph_localizer::GraphLocalizer::pose_nodes ( ) const

◆ SetPoseCovarianceInterpolater()

void graph_localizer::GraphLocalizer::SetPoseCovarianceInterpolater ( const std::shared_ptr< localization_common::MarginalsPoseCovarianceInterpolater< nodes::CombinedNavStateNodes >> & pose_covariance_interpolater )

Friends And Related Function Documentation

◆ boost::serialization::access

friend class boost::serialization::access

friend

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

localization/graph_localizer/include/graph_localizer/graph_localizer.h
localization/graph_localizer/src/graph_localizer.cc

Public Member Functions

Friends