jafar::slammm::MapsPoseManager Class Reference

This class countains the global level of a multimap approach. More...

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Detailed Description

This class countains the global level of a multimap approach.

Definition at line 23 of file MapsPoseManager.hpp.

#include <MapsPoseManager.hpp>

Inheritance diagram for jafar::slammm::MapsPoseManager:

List of all members.

Public Member Functions
virtual void	addFirstMapPose (unsigned int _mapId, unsigned int _robotId, const jblas::vec &_robotState, const jblas::mat &_robotStateCov)=0
	Add the pose of the first map in the world.
virtual void	addMapPose (unsigned int _mapId, unsigned int _robotId, unsigned int _previousMapId, const jblas::vec &_robotState, const jblas::mat &_robotStateCov)=0
	Add the pose of a map in reference to an other map.
virtual jafar::geom::T3DEuler	getWorldToMapTransformation (unsigned int _mapId) const =0
virtual jafar::geom::T3DEuler	getMapToMapTransformation (unsigned int _firstMapId, unsigned int _secondMapId) const =0
virtual void	enforceLoopConstraint (unsigned int _firstMapId, unsigned int _secondMapId, const jblas::vec &_transformation, const jblas::sym_mat &_transformationCov)=0
	Enforce loop constraints when a transformation between two maps is known.
virtual void	enforceLoopConstraint (unsigned int _firstMapId, unsigned int _secondMapId, const geom::T3DEuler &_transformation)
virtual bool	canEnforceLoopConstraint (unsigned int _firstMapId, unsigned int _secondMapId) const =0
void	addEventListener (MapsPoseManagerEventListener *listener)
void	removeEventListener (MapsPoseManagerEventListener *listener)
Protected Attributes
std::list < MapsPoseManagerEventListener * >	m_eventListners

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Member Function Documentation

virtual void jafar::slammm::MapsPoseManager::enforceLoopConstraint	(	unsigned int	_firstMapId,
		unsigned int	_secondMapId,
		const jblas::vec &	_transformation,
		const jblas::sym_mat &	_transformationCov
	)		[pure virtual]

Enforce loop constraints when a transformation between two maps is known.

Parameters:

_transformation	the transformation from the first map to the second map
_transformationCov

Implemented in jafar::slammm::ListMapsPoseManager.

virtual jafar::geom::T3DEuler jafar::slammm::MapsPoseManager::getMapToMapTransformation	(	unsigned int	_firstMapId,
		unsigned int	_secondMapId
	)		const [pure virtual]

Returns:

the transformation between two maps. It the transformation of robot2/map2 expressed in robot1/map1 frame.

Implemented in jafar::slammm::ListMapsPoseManager.

virtual jafar::geom::T3DEuler jafar::slammm::MapsPoseManager::getWorldToMapTransformation

(

unsigned int

_mapId

)

const [pure virtual]

Returns:

the transformation from the given map to the world.

Implemented in jafar::slammm::ListMapsPoseManager.

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

• modules/slammm/include/slammm/MapsPoseManager.hpp