61 lines
2.3 KiB
C++
61 lines
2.3 KiB
C++
/*
|
|
* Copyright 2016 The Cartographer Authors
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*/
|
|
|
|
#ifndef CARTOGRAPHER_MAPPING_2D_GLOBAL_TRAJECTORY_BUILDER_H_
|
|
#define CARTOGRAPHER_MAPPING_2D_GLOBAL_TRAJECTORY_BUILDER_H_
|
|
|
|
#include "cartographer/mapping/global_trajectory_builder_interface.h"
|
|
#include "cartographer/mapping_2d/local_trajectory_builder.h"
|
|
#include "cartographer/mapping_2d/sparse_pose_graph.h"
|
|
|
|
namespace cartographer {
|
|
namespace mapping_2d {
|
|
|
|
class GlobalTrajectoryBuilder
|
|
: public mapping::GlobalTrajectoryBuilderInterface {
|
|
public:
|
|
GlobalTrajectoryBuilder(const proto::LocalTrajectoryBuilderOptions& options,
|
|
SparsePoseGraph* sparse_pose_graph);
|
|
~GlobalTrajectoryBuilder() override;
|
|
|
|
GlobalTrajectoryBuilder(const GlobalTrajectoryBuilder&) = delete;
|
|
GlobalTrajectoryBuilder& operator=(const GlobalTrajectoryBuilder&) = delete;
|
|
|
|
const Submaps* submaps() const override;
|
|
const mapping::GlobalTrajectoryBuilderInterface::PoseEstimate& pose_estimate()
|
|
const override;
|
|
|
|
// Projects 'ranges' into 2D. Therefore, 'ranges' should be approximately
|
|
// parallel to the ground plane.
|
|
void AddRangefinderData(common::Time time, const Eigen::Vector3f& origin,
|
|
const sensor::PointCloud& ranges) override;
|
|
void AddImuData(common::Time time, const Eigen::Vector3d& linear_acceleration,
|
|
const Eigen::Vector3d& angular_velocity) override;
|
|
void AddOdometerData(
|
|
common::Time time, const transform::Rigid3d& pose,
|
|
const kalman_filter::PoseCovariance& covariance) override;
|
|
|
|
private:
|
|
const proto::LocalTrajectoryBuilderOptions options_;
|
|
SparsePoseGraph* const sparse_pose_graph_;
|
|
LocalTrajectoryBuilder local_trajectory_builder_;
|
|
};
|
|
|
|
} // namespace mapping_2d
|
|
} // namespace cartographer
|
|
|
|
#endif // CARTOGRAPHER_MAPPING_2D_GLOBAL_TRAJECTORY_BUILDER_H_
|