glim::GlobalMappingBase Class Reference

Global mapping base class. More...

#include <global_mapping_base.hpp>

Inheritance diagram for glim::GlobalMappingBase:

Public Member Functions
virtual void	insert_imu (const double stamp, const Eigen::Vector3d &linear_acc, const Eigen::Vector3d &angular_vel)
	Insert an IMU frame.
virtual void	insert_submap (const SubMap::Ptr &submap)
	Insert a SubMap.
virtual void	find_overlapping_submaps (double min_overlap)
	Request to find new overlapping submaps.
virtual void	optimize ()
	Request to perform optimization.
virtual void	recover_graph ()
	Request to detect and recover graph corruption.
virtual void	save (const std::string &path)
	Save the mapping result.
virtual gtsam_points::PointCloud::Ptr	export_points ()
	Export all the submap points.

Static Public Member Functions
static std::shared_ptr< GlobalMappingBase >	load_module (const std::string &so_name)
	Load a global mapping module from a shared library.

Protected Attributes
std::shared_ptr< spdlog::logger >	logger

Detailed Description

Global mapping base class.

Member Function Documentation

export_points()

virtual gtsam_points::PointCloud::Ptr glim::GlobalMappingBase::export_points ( )

inlinevirtual

Export all the submap points.

Reimplemented in glim::GlobalMapping, and glim::GlobalMappingPoseGraph.

find_overlapping_submaps()

virtual void glim::GlobalMappingBase::find_overlapping_submaps ( double  min_overlap )

virtual

Request to find new overlapping submaps.

Reimplemented in glim::GlobalMapping.

insert_imu()

virtual void glim::GlobalMappingBase::insert_imu ( const double  stamp, const Eigen::Vector3d &  linear_acc, const Eigen::Vector3d &  angular_vel  )

virtual

Insert an IMU frame.

Parameters

stamp	Timestamp
linear_acc	Linear acceleration
angular_vel	Angular velocity

Reimplemented in glim::GlobalMapping.

insert_submap()

virtual void glim::GlobalMappingBase::insert_submap ( const SubMap::Ptr &  submap )

virtual

Insert a SubMap.

Parameters

submap

SubMap

Reimplemented in glim::GlobalMapping, and glim::GlobalMappingPoseGraph.

load_module()

static std::shared_ptr< GlobalMappingBase > glim::GlobalMappingBase::load_module ( const std::string &  so_name )

static

Load a global mapping module from a shared library.

Parameters

so_name

Shared library name

Returns

Loaded global mapping module

optimize()

virtual void glim::GlobalMappingBase::optimize ( )

virtual

Request to perform optimization.

Reimplemented in glim::GlobalMapping, and glim::GlobalMappingPoseGraph.

save()

virtual void glim::GlobalMappingBase::save ( const std::string &  path )

inlinevirtual

Save the mapping result.

Parameters

path

Save path

Reimplemented in glim::GlobalMapping, and glim::GlobalMappingPoseGraph.

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

• /home/runner/work/glim/glim/include/glim/mapping/global_mapping_base.hpp