NASA Astrobee Robot Software  0.19.1
Flight software for the Astrobee robots operating inside the International Space Station.
Public Member Functions | Friends | List of all members
sliding_window_graph_optimizer::SlidingWindowGraphOptimizer Class Reference

#include <sliding_window_graph_optimizer.h>

Inheritance diagram for sliding_window_graph_optimizer::SlidingWindowGraphOptimizer:
Inheritance graph

Public Member Functions

 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

◆ SlidingWindowGraphOptimizer() [1/2]

sliding_window_graph_optimizer::SlidingWindowGraphOptimizer::SlidingWindowGraphOptimizer ( const SlidingWindowGraphOptimizerParams &  params,
std::unique_ptr< optimizers::Optimizer >  optimizer 
)

◆ ~SlidingWindowGraphOptimizer()

virtual sliding_window_graph_optimizer::SlidingWindowGraphOptimizer::~SlidingWindowGraphOptimizer ( )
virtualdefault

◆ SlidingWindowGraphOptimizer() [2/2]

sliding_window_graph_optimizer::SlidingWindowGraphOptimizer::SlidingWindowGraphOptimizer ( )
inline

Member Function Documentation

◆ AddSlidingWindowNodeAdder()

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

◆ Duration()

double sliding_window_graph_optimizer::SlidingWindowGraphOptimizer::Duration ( ) const

◆ Update()

bool sliding_window_graph_optimizer::SlidingWindowGraphOptimizer::Update ( )

◆ update_timer()

const localization_common::Timer & sliding_window_graph_optimizer::SlidingWindowGraphOptimizer::update_timer ( ) const

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: