d4db1e79a6
Add TimedPointCloud and TimedRangeData. ( #601 )
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Adds a type TimedPointCloud that holds 4-dimensional vectors where measurement time of individual points are stored in the fourth entry.
Uses TimedRangeData to pass TimedPointCloud of incoming measurements to LocalTrajectoryBuilder.
Fixes #573 .
2017-10-24 11:47:35 +02:00
bd8a2e6a92
Store node initial pose in constant data. ( #568 )
2017-10-05 16:10:12 +02:00
22f41d8e37
Store rotational histogram as part of the node data. ( #503 )
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The compressed point cloud is no longer stored as part of the
node data to reduce memory consumption.
2017-09-07 11:01:03 +02:00
5673334f0e
Tiny improvement of the gravity estimation. ( #494 )
2017-09-01 10:22:13 +02:00
06e9112bc8
Unify GlobalTrajectoryBuilder across 2D and 3D ( #489 )
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This PR unifies GlobalTrajectoryBuilder across 2D and 3D by templating
it with the LocalTrajectoryBuilder and the SparsePoseGraph. It thus
includes small changes to interfaces in LocalTrajectoryBuilder and
SparsePoseGraph.
2017-08-30 16:34:26 +02:00
3c22c8253a
Refactoring: Do not pass 'constant_data' in pieces. ( #488 )
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Also removes the no longer used range data from trajectory nodes
in 2D.
2017-08-30 14:22:12 +02:00
094b5a4d93
Template dispatching of sensor data. ( #484 )
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This reduces the amount of code that needs to be written when a
new type of sensor data is introduced by a tiny bit.
Rangefinder data is not yet following this pattern.
2017-08-28 15:43:26 +02:00
42d8a8f005
Add filtered point clouds to TrajectoryNode::Data for 3D. ( #482 )
2017-08-25 16:56:50 +02:00
e78e2cb5ad
Extract PoseEstimate into its own file. ( #474 )
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This is to remove the dependency of GlobalTrajectoryBuilderInterface
on the TrajectoryBuilder.
2017-08-24 12:04:39 +02:00
e79a918989
Use PoseExtrapolator in the 3D trajectory builder. ( #450 )
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This replaces the Predict() logic in the 3D trajectory builder.
2017-08-11 17:13:28 +02:00
f60b2cbb16
Pass IMU data as sensor::ImuData. ( #441 )
2017-08-08 14:27:08 +02:00
1bce14b7b5
Adds accumulation of range data to 2D. ( #408 )
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This mostly follows the implementation as done for 3D.
Towards googlecartographer/cartographer_ros#212 .
2017-07-18 12:10:40 +02:00
54bd81a78b
Remove UKF related code and configuration. ( #378 )
2017-06-30 13:19:13 +02:00
17a22edebc
Change local 3D SLAM to not use a UKF. ( #375 )
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This follows the 2D local SLAM in implementing a simple
constant velocity model and allows integrating odometry and
rotation information from an IMU.
2017-06-30 11:49:22 +02:00
ffc939706d
Rename the KalmanLocalTrajectoryBuilder. ( #372 )
2017-06-28 15:32:43 +02:00
e4e22e9f26
Remove the LocalTrajectoryBuilderInterface in 3D. ( #371 )
2017-06-28 14:57:37 +02:00
269c28cb0c
Moves the contents of the cartographer subdirectory up one level.
2016-08-03 12:48:29 +02:00
gaschler
Juraj Oršulić
Wolfgang Hess
Christoph Schütte
jie
Damon Kohler