PoseUpdater Class Reference

Class to update the pose of the vehicle. More...

#include <base_pose_updater.hpp>

Inheritance diagram for PoseUpdater:

Collaboration diagram for PoseUpdater:

Classes
struct	TimedPose

Public Member Functions
	PoseUpdater (const SLAMParameters &params)
	PoseUpdater (const PoseUpdater &other)
PoseUpdater &	operator= (const PoseUpdater &other)
virtual	~PoseUpdater ()
virtual std::shared_ptr< PoseUpdater >	clone () const
	Class to update the pose of the vehicle.
virtual void	predict_pose (const MotionData &motion_data, std::shared_ptr< V2PMotionModel > motion_model)
	Updates the last pose and returns the pose difference.
virtual void	update_pose (const Eigen::Vector3d &last_pose)
	Updates the last pose with the given pose.
virtual bool	pose_ready_for_graph_update () const
	Check if the pose is ready for graph update.
Eigen::Matrix3d	get_adjoint_operator_matrix (double x_translation, double y_translation, double rotation_angle) const
Eigen::Vector3d	get_last_pose () const
Eigen::Vector3d	get_last_graphed_pose () const
Eigen::Vector3d	get_pose_difference_noise () const
rclcpp::Time	get_last_pose_update () const
size_t	pose_buffer_size () const
size_t	pose_buffer_capacity () const
Eigen::Vector3d	get_pose_at_timestamp (const rclcpp::Time &timestamp) const

Protected Attributes
Eigen::Vector3d	_last_pose_
Eigen::Vector3d	_last_graphed_pose_
Eigen::Matrix3d	_last_pose_covariance_
rclcpp::Time	_last_pose_update_
bool	_received_first_motion_data_ = false
bool	_new_pose_from_graph_ = false
CircularBuffer< TimedPose >	_pose_buffer_

Detailed Description

Class to update the pose of the vehicle.

This class is the one to apply the motion model and keep track of the most up to date pose. It allows for the pose estimate to be calculated independently of the graph optimization, and only update the graph when needed.

Definition at line 18 of file base_pose_updater.hpp.

Constructor & Destructor Documentation

PoseUpdater() [1/2]

PoseUpdater::PoseUpdater ( const SLAMParameters &  params )

explicit

Definition at line 5 of file base_pose_updater.cpp.

PoseUpdater() [2/2]

PoseUpdater::PoseUpdater

(

const PoseUpdater &

other

)

Definition at line 14 of file base_pose_updater.cpp.

~PoseUpdater()

PoseUpdater::~PoseUpdater ( )

virtualdefault

Member Function Documentation

clone()

std::shared_ptr< PoseUpdater > PoseUpdater::clone ( ) const

virtual

Class to update the pose of the vehicle.

This class is the one to apply the motion model and keep track of the most up to date pose. It allows for the pose estimate to be calculated independently of the graph optimization, and only update the graph when needed.

Reimplemented in DifferenceBasedReadyPoseUpdater, and DoublePoseUpdater.

Definition at line 39 of file base_pose_updater.cpp.

get_adjoint_operator_matrix()

Eigen::Matrix3d PoseUpdater::get_adjoint_operator_matrix	(	double	x_translation,
		double	y_translation,
		double	rotation_angle
	)		const

Definition at line 121 of file base_pose_updater.cpp.

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get_last_graphed_pose()

Eigen::Vector3d PoseUpdater::get_last_graphed_pose ( ) const

inline

Definition at line 82 of file base_pose_updater.hpp.

get_last_pose()

Eigen::Vector3d PoseUpdater::get_last_pose ( ) const

inline

Definition at line 80 of file base_pose_updater.hpp.

get_last_pose_update()

rclcpp::Time PoseUpdater::get_last_pose_update ( ) const

inline

Definition at line 89 of file base_pose_updater.hpp.

get_pose_at_timestamp()

Eigen::Vector3d PoseUpdater::get_pose_at_timestamp

(

const rclcpp::Time &

timestamp

)

const

Definition at line 43 of file base_pose_updater.cpp.

get_pose_difference_noise()

Eigen::Vector3d PoseUpdater::get_pose_difference_noise ( ) const

inline

Definition at line 84 of file base_pose_updater.hpp.

operator=()

PoseUpdater & PoseUpdater::operator=

(

const PoseUpdater &

other

)

Definition at line 23 of file base_pose_updater.cpp.

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pose_buffer_capacity()

size_t PoseUpdater::pose_buffer_capacity ( ) const

inline

Definition at line 92 of file base_pose_updater.hpp.

pose_buffer_size()

size_t PoseUpdater::pose_buffer_size ( ) const

inline

Definition at line 91 of file base_pose_updater.hpp.

pose_ready_for_graph_update()

bool PoseUpdater::pose_ready_for_graph_update ( ) const

virtual

Check if the pose is ready for graph update.

Returns

true if there is a new pose different from the graph, false otherwise

Reimplemented in DifferenceBasedReadyPoseUpdater.

Definition at line 119 of file base_pose_updater.cpp.

predict_pose()

void PoseUpdater::predict_pose ( const MotionData &  motion_data, std::shared_ptr< V2PMotionModel >  motion_model  )

virtual

Updates the last pose and returns the pose difference.

Parameters

motion_data	Motion data containing the velocities and timestamp
motion_model	Motion model to apply the velocities

Reimplemented in DoublePoseUpdater.

Definition at line 71 of file base_pose_updater.cpp.

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update_pose()

void PoseUpdater::update_pose ( const Eigen::Vector3d &  last_pose )

virtual

Updates the last pose with the given pose.

This method is used to set the last pose directly, for example after an optimization or when the pose is known from another source. It resets the accumulated pose difference.

Parameters

last_pose

The last pose to set

Definition at line 60 of file base_pose_updater.cpp.

Member Data Documentation

_last_graphed_pose_

Eigen::Vector3d PoseUpdater::_last_graphed_pose_

protected

Definition at line 30 of file base_pose_updater.hpp.

_last_pose_

Eigen::Vector3d PoseUpdater::_last_pose_

protected

Definition at line 29 of file base_pose_updater.hpp.

_last_pose_covariance_

Eigen::Matrix3d PoseUpdater::_last_pose_covariance_

protected

Definition at line 31 of file base_pose_updater.hpp.

_last_pose_update_

rclcpp::Time PoseUpdater::_last_pose_update_

protected

Definition at line 32 of file base_pose_updater.hpp.

_new_pose_from_graph_

bool PoseUpdater::_new_pose_from_graph_ = false

protected

Definition at line 35 of file base_pose_updater.hpp.

_pose_buffer_

CircularBuffer<TimedPose> PoseUpdater::_pose_buffer_

protected

Definition at line 37 of file base_pose_updater.hpp.

_received_first_motion_data_

bool PoseUpdater::_received_first_motion_data_ = false

protected

Definition at line 34 of file base_pose_updater.hpp.

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

• src/slam/include/slam_solver/graph_slam_solver/pose_updater/base_pose_updater.hpp
• src/slam/src/slam_solver/graph_slam_solver/pose_updater/base_pose_updater.cpp