LoopClosure Class Reference

Interface for detecting loop closures. More...

#include <loop_closure.hpp>

Inheritance diagram for LoopClosure:

Collaboration diagram for LoopClosure:

Classes
struct	Result
	Result of loop closure detection. More...

Public Member Functions
virtual	~LoopClosure ()=default
virtual Result	detect (const Eigen::Vector3d &current_pose, const Eigen::VectorXd &map_cones, const Eigen::VectorXi &associations, const Eigen::VectorXd &observations) const =0
	Call every time you have new observations.

Detailed Description

Interface for detecting loop closures.

Definition at line 11 of file loop_closure.hpp.

Constructor & Destructor Documentation

~LoopClosure()

virtual LoopClosure::~LoopClosure ( )

virtualdefault

Member Function Documentation

detect()

virtual Result LoopClosure::detect ( const Eigen::Vector3d &  current_pose, const Eigen::VectorXd &  map_cones, const Eigen::VectorXi &  associations, const Eigen::VectorXd &  observations  ) const

pure virtual

Call every time you have new observations.

Parameters

current_pose	your latest pose in world frame
map_cones	full map of cones (in insertion order)
associations	one entry per observation: >=3 → matched map_cones[(j-3)/2] -1 → new landmark, -2 → no match
observations	raw observations

Returns

result indicating if loop closure was detected

Implemented in LapCounter.

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

• src/perception_sensor_lib/include/perception_sensor_lib/loop_closure/loop_closure.hpp