DifferenceBasedReadyPoseUpdater Class Reference

Class to update the pose of the vehicle, including a method to check if the pose is ready for graph update depending on the accumulated pose difference. More...

#include <difference_based_ready_pose_updater.hpp>

Inheritance diagram for DifferenceBasedReadyPoseUpdater:

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Public Member Functions
	DifferenceBasedReadyPoseUpdater (const SLAMParameters &params)
	DifferenceBasedReadyPoseUpdater (const DifferenceBasedReadyPoseUpdater &other)
DifferenceBasedReadyPoseUpdater &	operator= (const DifferenceBasedReadyPoseUpdater &other)
virtual	~DifferenceBasedReadyPoseUpdater ()
virtual std::shared_ptr< PoseUpdater >	clone () const override
	Clone the pose updater.
virtual bool	pose_ready_for_graph_update () const override
	Check if the accumulated pose difference is greater than the minimum threshold.
Public Member Functions inherited from PoseUpdater
	PoseUpdater (const SLAMParameters &params)
	PoseUpdater (const PoseUpdater &other)
PoseUpdater &	operator= (const PoseUpdater &other)
virtual	~PoseUpdater ()
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.
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

Private Attributes
double	minimum_pose_difference_ = 0.3

Additional Inherited Members
Protected Attributes inherited from PoseUpdater
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, including a method to check if the pose is ready for graph update depending on the accumulated pose difference.

This class is the one to apply the motion model and keep track of the most up to date pose. The pose is considered ready for graph update if the accumulated pose difference is greater than a minimum threshold

Definition at line 18 of file difference_based_ready_pose_updater.hpp.

Constructor & Destructor Documentation

DifferenceBasedReadyPoseUpdater() [1/2]

DifferenceBasedReadyPoseUpdater::DifferenceBasedReadyPoseUpdater ( const SLAMParameters &  params )

explicit

Definition at line 5 of file difference_based_ready_pose_updater.cpp.

DifferenceBasedReadyPoseUpdater() [2/2]

DifferenceBasedReadyPoseUpdater::DifferenceBasedReadyPoseUpdater

(

const DifferenceBasedReadyPoseUpdater &

other

)

Definition at line 10 of file difference_based_ready_pose_updater.cpp.

~DifferenceBasedReadyPoseUpdater()

DifferenceBasedReadyPoseUpdater::~DifferenceBasedReadyPoseUpdater ( )

virtualdefault

Member Function Documentation

clone()

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

overridevirtual

Clone the pose updater.

This method is used to create a copy of the pose updater It is useful for polymorphic classes that use pointers to base class

Returns

A shared pointer to the cloned pose updater

Reimplemented from PoseUpdater.

Reimplemented in DoublePoseUpdater.

Definition at line 29 of file difference_based_ready_pose_updater.cpp.

operator=()

DifferenceBasedReadyPoseUpdater & DifferenceBasedReadyPoseUpdater::operator=

(

const DifferenceBasedReadyPoseUpdater &

other

)

Definition at line 18 of file difference_based_ready_pose_updater.cpp.

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pose_ready_for_graph_update()

bool DifferenceBasedReadyPoseUpdater::pose_ready_for_graph_update ( ) const

overridevirtual

Check if the accumulated pose difference is greater than the minimum threshold.

Returns

true if the pose is ready for graph update, false otherwise

Reimplemented from PoseUpdater.

Definition at line 33 of file difference_based_ready_pose_updater.cpp.

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Member Data Documentation

minimum_pose_difference_

double DifferenceBasedReadyPoseUpdater::minimum_pose_difference_ = 0.3

private

Definition at line 19 of file difference_based_ready_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/difference_based_ready_pose_updater.hpp
• src/slam/src/slam_solver/graph_slam_solver/pose_updater/difference_based_ready_pose_updater.cpp