glim::GlobalMappingCallbacks Struct Reference

Global mapping-related callbacks. More...

#include <callbacks.hpp>

Collaboration diagram for glim::GlobalMappingCallbacks:

Static Public Attributes
static CallbackSlot< void(const double stamp, const Eigen::Vector3d &linear_acc, const Eigen::Vector3d &angular_vel)>	on_insert_imu
	IMU input callback.
static CallbackSlot< void(const SubMap::ConstPtr &submap)>	on_insert_submap
	SubMap input callback.
static CallbackSlot< void(const std::vector< SubMap::Ptr > &submaps)>	on_update_submaps
	SubMap states update callback.
static CallbackSlot< void(gtsam_points::ISAM2Ext &isam2, gtsam::NonlinearFactorGraph &new_factors, gtsam::Values &new_values)>	on_smoother_update
	Global optimization callback (just before optimization)
static CallbackSlot< void(gtsam_points::ISAM2Ext &isam2, const gtsam_points::ISAM2ResultExt &result)>	on_smoother_update_result
	Global optimization result callback (just after optimization)
static CallbackSlot< void()>	request_to_optimize
	Request the global mapping module to perform optimization.
static CallbackSlot< void()>	request_to_recover
	Request the global mapping module to detect and recover from a graph corruption.
static CallbackSlot< void(double)>	request_to_find_overlapping_submaps
	Request the global mapping module to find new overlapping submaps.

Detailed Description

Global mapping-related callbacks.

Member Data Documentation

on_insert_imu

CallbackSlot<void(const double stamp, const Eigen::Vector3d& linear_acc, const Eigen::Vector3d& angular_vel)> glim::GlobalMappingCallbacks::on_insert_imu

static

IMU input callback.

Parameters

stamp	Timestamp
linear_acc	Linear acceleration
angular_vel	Angular velocity

on_insert_submap

CallbackSlot<void(const SubMap::ConstPtr& submap)> glim::GlobalMappingCallbacks::on_insert_submap

static

SubMap input callback.

Parameters

submap

SubMap

Note

submap->T_world_origin is updated in the global mapping thread Accessing it from another thread is not thread-safe

on_smoother_update

CallbackSlot<void(gtsam_points::ISAM2Ext& isam2, gtsam::NonlinearFactorGraph& new_factors, gtsam::Values& new_values)> glim::GlobalMappingCallbacks::on_smoother_update

static

Global optimization callback (just before optimization)

Parameters

isam2	iSAM2 Optimizer
new_factors	New factors to be inserted into the factor graph
new_values	New values to be inserted into the factor graph

on_smoother_update_result

CallbackSlot<void(gtsam_points::ISAM2Ext& isam2, const gtsam_points::ISAM2ResultExt& result)> glim::GlobalMappingCallbacks::on_smoother_update_result

static

Global optimization result callback (just after optimization)

Parameters

isam2	iSAM2 optimizer
result	iSAM2 result

on_update_submaps

CallbackSlot<void(const std::vector<SubMap::Ptr>& submaps)> glim::GlobalMappingCallbacks::on_update_submaps

static

SubMap states update callback.

Parameters

submaps

Updated submaps

Note

submap->T_world_origin are updated in the global mapping thread Accessing them from another thread is not thread-safe

request_to_find_overlapping_submaps

CallbackSlot<void(double)> glim::GlobalMappingCallbacks::request_to_find_overlapping_submaps

static

Request the global mapping module to find new overlapping submaps.

Parameters

min_overlap

Minimum overlap rate between submaps

Note

This is a special inverse-direction callback slot

request_to_optimize

CallbackSlot<void()> glim::GlobalMappingCallbacks::request_to_optimize

static

Request the global mapping module to perform optimization.

Note

This is a special inverse-direction callback slot

request_to_recover

CallbackSlot<void()> glim::GlobalMappingCallbacks::request_to_recover

static

Request the global mapping module to detect and recover from a graph corruption.

Note

This is a special inverse-direction callback slot

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

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