DoublePoseUpdater Class Reference

TODO: abandoned for now, not working properly. More...

#include <double_pose_updater.hpp>

Inheritance diagram for DoublePoseUpdater:

Collaboration diagram for DoublePoseUpdater:

Public Member Functions
	DoublePoseUpdater (const SLAMParameters &params)
	DoublePoseUpdater (const DoublePoseUpdater &other)
DoublePoseUpdater &	operator= (const DoublePoseUpdater &other)
std::shared_ptr< PoseUpdater >	clone () const override
	Clone the pose updater.
void	predict_pose (const MotionData &motion_data, std::shared_ptr< V2PMotionModel > motion_model) override
	Updates the last pose and returns the pose difference.
Eigen::Vector3d	get_second_accumulated_pose_difference () const override
	Get the accumulated pose difference from the second source.
bool	second_pose_difference_ready () const override
	Check if the second pose difference is ready.
Public Member Functions inherited from DifferenceBasedReadyPoseUpdater
	DifferenceBasedReadyPoseUpdater (const SLAMParameters &params)
	DifferenceBasedReadyPoseUpdater (const DifferenceBasedReadyPoseUpdater &other)
DifferenceBasedReadyPoseUpdater &	operator= (const DifferenceBasedReadyPoseUpdater &other)
virtual	~DifferenceBasedReadyPoseUpdater ()
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	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
bool	_received_first_velocities_
bool	_received_first_odometry_ = false
rclcpp::Time	_last_velocities_receive_time_
	Last pose update timestamp for velocities.
Eigen::Vector3d	_accumulated_odometry_pose_difference_
	Accumulated odometry pose difference since the last pose update.
Eigen::Vector3d	_last_odometry_pose_ = Eigen::Vector3d::Zero()

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

TODO: abandoned for now, not working properly.

Definition at line 13 of file double_pose_updater.hpp.

Constructor & Destructor Documentation

DoublePoseUpdater() [1/2]

DoublePoseUpdater::DoublePoseUpdater ( const SLAMParameters &  params )

explicit

Definition at line 3 of file double_pose_updater.cpp.

DoublePoseUpdater() [2/2]

DoublePoseUpdater::DoublePoseUpdater

(

const DoublePoseUpdater &

other

)

Definition at line 13 of file double_pose_updater.cpp.

Member Function Documentation

clone()

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

inlineoverridevirtual

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 DifferenceBasedReadyPoseUpdater.

Definition at line 33 of file double_pose_updater.hpp.

get_second_accumulated_pose_difference()

Eigen::Vector3d DoublePoseUpdater::get_second_accumulated_pose_difference ( ) const

overridevirtual

Get the accumulated pose difference from the second source.

Returns

Eigen::Vector3d The accumulated pose difference from the second source

Implements SecondPoseInputTrait.

Definition at line 43 of file double_pose_updater.cpp.

operator=()

DoublePoseUpdater & DoublePoseUpdater::operator=

(

const DoublePoseUpdater &

other

)

Definition at line 22 of file double_pose_updater.cpp.

Here is the call graph for this function:

predict_pose()

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

overridevirtual

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 from PoseUpdater.

Definition at line 36 of file double_pose_updater.cpp.

second_pose_difference_ready()

bool DoublePoseUpdater::second_pose_difference_ready ( ) const

overridevirtual

Check if the second pose difference is ready.

Returns

true if the second pose difference is ready, false otherwise

Implements SecondPoseInputTrait.

Definition at line 39 of file double_pose_updater.cpp.

Member Data Documentation

_accumulated_odometry_pose_difference_

Eigen::Vector3d DoublePoseUpdater::_accumulated_odometry_pose_difference_

private

Initial value:

=
      Eigen::Vector3d::Zero()

Accumulated odometry pose difference since the last pose update.

Definition at line 21 of file double_pose_updater.hpp.

_last_odometry_pose_

Eigen::Vector3d DoublePoseUpdater::_last_odometry_pose_ = Eigen::Vector3d::Zero()

private

Definition at line 24 of file double_pose_updater.hpp.

_last_velocities_receive_time_

rclcpp::Time DoublePoseUpdater::_last_velocities_receive_time_

private

Initial value:

=
      rclcpp::Time(0)

Last pose update timestamp for velocities.

Definition at line 18 of file double_pose_updater.hpp.

_received_first_odometry_

bool DoublePoseUpdater::_received_first_odometry_ = false

private

Definition at line 16 of file double_pose_updater.hpp.

_received_first_velocities_

bool DoublePoseUpdater::_received_first_velocities_

private

Initial value:

=
      false

Definition at line 14 of file double_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/double_pose_updater.hpp
• src/slam/src/slam_solver/graph_slam_solver/pose_updater/double_pose_updater.cpp