Interface for SLAM solvers. More...

#include <slam_solver.hpp>

Inheritance diagram for SLAMSolver:

Collaboration diagram for SLAMSolver:

Public Member Functions
	SLAMSolver (const SLAMParameters &params, std::shared_ptr< DataAssociationModel > data_association, std::shared_ptr< V2PMotionModel > motion_model, std::shared_ptr< LandmarkFilter > landmark_filter, std::shared_ptr< std::vector< double > > execution_times, std::shared_ptr< LoopClosure > loop_closure)
	Construct a new SLAMSolver object.

virtual	~SLAMSolver ()=default

virtual void	add_observations (const std::vector< common_lib::structures::Cone > &cones, rclcpp::Time cones_timestamp)=0
	Add observations to the solver.

virtual void	add_velocities (const common_lib::structures::Velocities &velocities)=0
	Process new velocity data.

virtual void	load_initial_state (const Eigen::VectorXd &map, const Eigen::Vector3d &pose)=0
	Loads a previously saved map and pose into the solver.

virtual std::vector< common_lib::structures::Cone >	get_map_estimate ()=0
	Get the map estimate object.

virtual common_lib::structures::Pose	get_pose_estimate ()=0
	Get the pose estimate object.

virtual Eigen::MatrixXd	get_covariance ()=0
	Get covariance matrix.

virtual int	get_lap_counter ()=0
	Get the lap counter.

virtual Eigen::VectorXi	get_associations () const =0

virtual Eigen::VectorXd	get_observations_global () const =0

virtual Eigen::VectorXd	get_map_coordinates () const =0

void	set_mission (common_lib::competition_logic::Mission mission)
	Set the mission.

Protected Attributes
SLAMParameters	_params_

std::shared_ptr< DataAssociationModel >	_data_association_

std::shared_ptr< V2PMotionModel >	_motion_model_

std::shared_ptr< LandmarkFilter >	_landmark_filter_

common_lib::competition_logic::Mission	_mission_ = common_lib::competition_logic::Mission::NONE

std::shared_ptr< std::vector< double > >	_execution_times_

std::shared_ptr< LoopClosure >	_loop_closure_

rclcpp::Time	_last_pose_update_ = rclcpp::Time(0)

rclcpp::Time	_last_observation_update_ = rclcpp::Time(0)

bool	_received_first_velocities_

int	lap_counter_ = 0

Detailed Description

Interface for SLAM solvers.

This class defines the interface for SLAM solvers like EKF or GTSAM

Definition at line 22 of file slam_solver.hpp.

Constructor & Destructor Documentation

◆ SLAMSolver()

SLAMSolver::SLAMSolver	(	const SLAMParameters &	params,
		std::shared_ptr< DataAssociationModel >	data_association,
		std::shared_ptr< V2PMotionModel >	motion_model,
		std::shared_ptr< LandmarkFilter >	landmark_filter,
		std::shared_ptr< std::vector< double > >	execution_times,
		std::shared_ptr< LoopClosure >	loop_closure
	)

Construct a new SLAMSolver object.

Parameters

params	Parameters for the SLAM solver
data_association	Data association module
motion_model	Motion model
execution_times	Timekeeping array
loop_closure	Loop closure model

Definition at line 3 of file slam_solver.cpp.

◆ ~SLAMSolver()

virtual SLAMSolver::~SLAMSolver ( )

virtualdefault

Member Function Documentation

◆ add_observations()

virtual void SLAMSolver::add_observations	(	const std::vector< common_lib::structures::Cone > &	cones,
		rclcpp::Time	cones_timestamp
	)

pure virtual

Add observations to the solver.

Parameters

cones Positions of the observations

Implemented in GraphSLAMSolver, and EKFSLAMSolver.

◆ add_velocities()

virtual void SLAMSolver::add_velocities ( const common_lib::structures::Velocities & velocities )

pure virtual

Process new velocity data.

Parameters

velocities Velocities data

Implemented in EKFSLAMSolver, and GraphSLAMSolver.

◆ get_associations()

virtual Eigen::VectorXi SLAMSolver::get_associations ( ) const

pure virtual

Implemented in EKFSLAMSolver, and GraphSLAMSolver.

◆ get_covariance()

virtual Eigen::MatrixXd SLAMSolver::get_covariance ( )

pure virtual

Get covariance matrix.

Returns: Eigen::MatrixXd

Implemented in EKFSLAMSolver, and GraphSLAMSolver.

◆ get_lap_counter()

virtual int SLAMSolver::get_lap_counter ( )

pure virtual

Get the lap counter.

Returns: int lap counter

Implemented in EKFSLAMSolver, and GraphSLAMSolver.

◆ get_map_coordinates()

virtual Eigen::VectorXd SLAMSolver::get_map_coordinates ( ) const

pure virtual

Implemented in EKFSLAMSolver, and GraphSLAMSolver.

◆ get_map_estimate()

virtual std::vector< common_lib::structures::Cone > SLAMSolver::get_map_estimate ( )

pure virtual

Get the map estimate object.

Returns: std::vector<common_lib::structures::Cone>

Implemented in EKFSLAMSolver, and GraphSLAMSolver.

◆ get_observations_global()

virtual Eigen::VectorXd SLAMSolver::get_observations_global ( ) const

pure virtual

Implemented in EKFSLAMSolver, and GraphSLAMSolver.

◆ get_pose_estimate()

virtual common_lib::structures::Pose SLAMSolver::get_pose_estimate ( )

pure virtual

Get the pose estimate object.

Returns: common_lib::structures::Pose

Implemented in EKFSLAMSolver, and GraphSLAMSolver.

◆ load_initial_state()

virtual void SLAMSolver::load_initial_state	(	const Eigen::VectorXd &	map,
		const Eigen::Vector3d &	pose
	)

pure virtual

Loads a previously saved map and pose into the solver.

Parameters

map	coordinates of the landmarks in the form of [x1, y1, x2, y2, ...] in the global frame
pose	initial pose of the robot in the form of [x, y, theta] in the global frame

Implemented in EKFSLAMSolver, and GraphSLAMSolver.

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◆ set_mission()

void SLAMSolver::set_mission ( common_lib::competition_logic::Mission mission )

Set the mission.

Parameters

mission

Definition at line 16 of file slam_solver.cpp.

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Member Data Documentation

◆ _data_association_

std::shared_ptr<DataAssociationModel> SLAMSolver::_data_association_

protected

Definition at line 25 of file slam_solver.hpp.

◆ _execution_times_

std::shared_ptr<std::vector<double> > SLAMSolver::_execution_times_

protected

Definition at line 30 of file slam_solver.hpp.

◆ _landmark_filter_

std::shared_ptr<LandmarkFilter> SLAMSolver::_landmark_filter_

protected

Definition at line 27 of file slam_solver.hpp.

◆ _last_observation_update_

rclcpp::Time SLAMSolver::_last_observation_update_ = rclcpp::Time(0)

protected

Definition at line 35 of file slam_solver.hpp.

◆ _last_pose_update_

rclcpp::Time SLAMSolver::_last_pose_update_ = rclcpp::Time(0)

protected

Definition at line 34 of file slam_solver.hpp.

◆ _loop_closure_

std::shared_ptr<LoopClosure> SLAMSolver::_loop_closure_

protected

Definition at line 32 of file slam_solver.hpp.

◆ _mission_

common_lib::competition_logic::Mission SLAMSolver::_mission_ = common_lib::competition_logic::Mission::NONE

protected

Definition at line 28 of file slam_solver.hpp.

◆ _motion_model_

std::shared_ptr<V2PMotionModel> SLAMSolver::_motion_model_

protected

Definition at line 26 of file slam_solver.hpp.

◆ _params_

SLAMParameters SLAMSolver::_params_

protected

Definition at line 24 of file slam_solver.hpp.

◆ _received_first_velocities_

bool SLAMSolver::_received_first_velocities_

protected

Initial value:

=

false

Definition at line 37 of file slam_solver.hpp.

◆ lap_counter_

int SLAMSolver::lap_counter_ = 0

protected

Definition at line 40 of file slam_solver.hpp.

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

src/slam/include/slam_solver/slam_solver.hpp
src/slam/src/slam_solver/slam_solver.cpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SLAMSolver()

◆ ~SLAMSolver()

Member Function Documentation

◆ add_observations()

◆ add_velocities()

◆ get_associations()

◆ get_covariance()

◆ get_lap_counter()

◆ get_map_coordinates()

◆ get_map_estimate()

◆ get_observations_global()

◆ get_pose_estimate()

◆ load_initial_state()

◆ set_mission()

Member Data Documentation

◆ _data_association_

◆ _execution_times_

◆ _landmark_filter_

◆ _last_observation_update_

◆ _last_pose_update_

◆ _loop_closure_

◆ _mission_

◆ _motion_model_

◆ _params_

◆ _received_first_velocities_

◆ lap_counter_