#include <localizer_base.hpp>

Public Types
using	PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped

using	Transform = geometry_msgs::msg::TransformStamped

using	RegistrationSummary = RegistrationSummaryT

using	InputMsg = InputMsgT

using	MapMsg = MapMsgT

Public Member Functions
RegistrationSummaryT	register_measurement (const InputMsgT &msg, const Transform &transform_initial, PoseWithCovarianceStamped &pose_out)

void	set_map (const MapMsgT &msg)

void	insert_to_map (const MapMsgT &msg)

virtual const std::string &	map_frame_id () const noexcept=0
	Get the frame id of the current map. More...

virtual std::chrono::system_clock::time_point	map_stamp () const noexcept=0
	Get the timestamp of the current map. More...

bool	map_valid () const noexcept

RelativeLocalizerBase &	operator= (RelativeLocalizerBase &&other)=delete

virtual	~RelativeLocalizerBase ()=default

Protected Member Functions
virtual void	set_map_impl (const MapMsgT &msg)=0
	`set_map` implementation. More...

virtual void	insert_to_map_impl (const MapMsgT &)
	`insert_to_map` implementation. More...

virtual void	on_bad_map (std::exception_ptr eptr)
	Action to take on failure to set a new map. More...

virtual void	on_bad_map_insertion (std::exception_ptr eptr)
	Action to take on failure to insert to the map. More...

virtual RegistrationSummaryT	register_measurement_impl (const InputMsgT &msg, const Transform &transform_initial, PoseWithCovarianceStamped &pose_out)=0
	`register_measurement(...)` implementation. More...

void	set_map_valid () noexcept
	Set current map as valid. More...

void	set_map_invalid () noexcept
	Set current map as invalid. More...

virtual void	on_register_without_map ()
	Action to take when a measurement is attempted to be set without a valid map. More...

Detailed Description

template<typename InputMsgT, typename MapMsgT, typename RegistrationSummaryT>
class autoware::localization::localization_common::RelativeLocalizerBase< InputMsgT, MapMsgT, RegistrationSummaryT >

The base class for relative localizers.

Template Parameters

InputMsgT	Message type that will be registered against a map.
MapMsgT	Map type.
RegistrationSummaryT	Struct that contains the registration summary.

Member Typedef Documentation

◆ InputMsg

template<typename InputMsgT , typename MapMsgT , typename RegistrationSummaryT >

using autoware::localization::localization_common::RelativeLocalizerBase< InputMsgT, MapMsgT, RegistrationSummaryT >::InputMsg = InputMsgT

◆ MapMsg

template<typename InputMsgT , typename MapMsgT , typename RegistrationSummaryT >

using autoware::localization::localization_common::RelativeLocalizerBase< InputMsgT, MapMsgT, RegistrationSummaryT >::MapMsg = MapMsgT

◆ PoseWithCovarianceStamped

template<typename InputMsgT , typename MapMsgT , typename RegistrationSummaryT >

using autoware::localization::localization_common::RelativeLocalizerBase< InputMsgT, MapMsgT, RegistrationSummaryT >::PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped

◆ RegistrationSummary

template<typename InputMsgT , typename MapMsgT , typename RegistrationSummaryT >

using autoware::localization::localization_common::RelativeLocalizerBase< InputMsgT, MapMsgT, RegistrationSummaryT >::RegistrationSummary = RegistrationSummaryT

◆ Transform

template<typename InputMsgT , typename MapMsgT , typename RegistrationSummaryT >

using autoware::localization::localization_common::RelativeLocalizerBase< InputMsgT, MapMsgT, RegistrationSummaryT >::Transform = geometry_msgs::msg::TransformStamped

Constructor & Destructor Documentation

◆ ~RelativeLocalizerBase()

template<typename InputMsgT , typename MapMsgT , typename RegistrationSummaryT >

virtual autoware::localization::localization_common::RelativeLocalizerBase< InputMsgT, MapMsgT, RegistrationSummaryT >::~RelativeLocalizerBase ( )

virtualdefault

Member Function Documentation

◆ insert_to_map()

template<typename InputMsgT , typename MapMsgT , typename RegistrationSummaryT >

void autoware::localization::localization_common::RelativeLocalizerBase< InputMsgT, MapMsgT, RegistrationSummaryT >::insert_to_map ( const MapMsgT & msg )

inline

Insert an increment to the map.

Parameters

msg	Data to insert to the map.

◆ insert_to_map_impl()

template<typename InputMsgT , typename MapMsgT , typename RegistrationSummaryT >

virtual void autoware::localization::localization_common::RelativeLocalizerBase< InputMsgT, MapMsgT, RegistrationSummaryT >::insert_to_map_impl ( const MapMsgT & )

inlineprotectedvirtual

insert_to_map implementation.

Reimplemented in autoware::mapping::point_cloud_mapping::MapperBase< LocalizerT, MapRepresentationT, sensor_msgs::msg::PointCloud2, sensor_msgs::msg::PointCloud2, MapperRegistrationSummaryBase< LocalizerT::RegistrationSummary, ConstCloudPtr >, WriteTriggerPolicyT, FileNamePrefixGeneratorT >, and autoware::mapping::point_cloud_mapping::MapperBase< LocalizerT, MapRepresentationT, ObservationMsgT, MapIncrementT, RegistrationSummaryT, WriteTriggerPolicyT, PrefixGeneratorT >.

◆ map_frame_id()

template<typename InputMsgT , typename MapMsgT , typename RegistrationSummaryT >

virtual const std::string& autoware::localization::localization_common::RelativeLocalizerBase< InputMsgT, MapMsgT, RegistrationSummaryT >::map_frame_id ( ) const

pure virtualnoexcept

Get the frame id of the current map.

Implemented in autoware::localization::ndt::NDTLocalizerBase< P2DNDTScan, StaticNDTMap, P2DNDTOptimizationProblem< StaticNDTMap >, P2DNDTOptimizationConfig, OptimizerT >, and autoware::mapping::point_cloud_mapping::MapperBase< LocalizerT, MapRepresentationT, sensor_msgs::msg::PointCloud2, sensor_msgs::msg::PointCloud2, MapperRegistrationSummaryBase< LocalizerT::RegistrationSummary, ConstCloudPtr >, WriteTriggerPolicyT, FileNamePrefixGeneratorT >.

◆ map_stamp()

template<typename InputMsgT , typename MapMsgT , typename RegistrationSummaryT >

virtual std::chrono::system_clock::time_point autoware::localization::localization_common::RelativeLocalizerBase< InputMsgT, MapMsgT, RegistrationSummaryT >::map_stamp ( ) const

pure virtualnoexcept

Get the timestamp of the current map.

Implemented in autoware::localization::ndt::NDTLocalizerBase< P2DNDTScan, StaticNDTMap, P2DNDTOptimizationProblem< StaticNDTMap >, P2DNDTOptimizationConfig, OptimizerT >, and autoware::mapping::point_cloud_mapping::MapperBase< LocalizerT, MapRepresentationT, sensor_msgs::msg::PointCloud2, sensor_msgs::msg::PointCloud2, MapperRegistrationSummaryBase< LocalizerT::RegistrationSummary, ConstCloudPtr >, WriteTriggerPolicyT, FileNamePrefixGeneratorT >.

◆ map_valid()

template<typename InputMsgT , typename MapMsgT , typename RegistrationSummaryT >

bool autoware::localization::localization_common::RelativeLocalizerBase< InputMsgT, MapMsgT, RegistrationSummaryT >::map_valid ( ) const

inlinenoexcept

◆ on_bad_map()

template<typename InputMsgT , typename MapMsgT , typename RegistrationSummaryT >

virtual void autoware::localization::localization_common::RelativeLocalizerBase< InputMsgT, MapMsgT, RegistrationSummaryT >::on_bad_map ( std::exception_ptr eptr )

inlineprotectedvirtual

Action to take on failure to set a new map.

◆ on_bad_map_insertion()

template<typename InputMsgT , typename MapMsgT , typename RegistrationSummaryT >

virtual void autoware::localization::localization_common::RelativeLocalizerBase< InputMsgT, MapMsgT, RegistrationSummaryT >::on_bad_map_insertion ( std::exception_ptr eptr )

inlineprotectedvirtual

Action to take on failure to insert to the map.

◆ on_register_without_map()

template<typename InputMsgT , typename MapMsgT , typename RegistrationSummaryT >

virtual void autoware::localization::localization_common::RelativeLocalizerBase< InputMsgT, MapMsgT, RegistrationSummaryT >::on_register_without_map ( )

inlineprotectedvirtual

Action to take when a measurement is attempted to be set without a valid map.

◆ operator=()

template<typename InputMsgT , typename MapMsgT , typename RegistrationSummaryT >

RelativeLocalizerBase& autoware::localization::localization_common::RelativeLocalizerBase< InputMsgT, MapMsgT, RegistrationSummaryT >::operator= ( RelativeLocalizerBase< InputMsgT, MapMsgT, RegistrationSummaryT > && other )

delete

◆ register_measurement()

template<typename InputMsgT , typename MapMsgT , typename RegistrationSummaryT >

RegistrationSummaryT autoware::localization::localization_common::RelativeLocalizerBase< InputMsgT, MapMsgT, RegistrationSummaryT >::register_measurement	(	const InputMsgT &	msg,
		const Transform &	transform_initial,
		PoseWithCovarianceStamped &	pose_out
	)

inline

Registers a measurement to the current map and returns the estimated pose of the vehicle and its validity.

Parameters

[in]	msg	Measurement message to register.
[in]	transform_initial	Initial guess of the pose to initialize the localizer with in iterative processes like solving optimization problems.
[out]	pose_out	Reference to the resulting pose estimate after registration.

Returns: Registration summary. This is implementation defined.

Exceptions

If	the result is invalid and cannot be used. Defined in the implementation.

◆ register_measurement_impl()

template<typename InputMsgT , typename MapMsgT , typename RegistrationSummaryT >

virtual RegistrationSummaryT autoware::localization::localization_common::RelativeLocalizerBase< InputMsgT, MapMsgT, RegistrationSummaryT >::register_measurement_impl	(	const InputMsgT &	msg,
		const Transform &	transform_initial,
		PoseWithCovarianceStamped &	pose_out
	)

protectedpure virtual

register_measurement(...) implementation.

Implemented in autoware::mapping::point_cloud_mapping::MapperBase< LocalizerT, MapRepresentationT, sensor_msgs::msg::PointCloud2, sensor_msgs::msg::PointCloud2, MapperRegistrationSummaryBase< LocalizerT::RegistrationSummary, ConstCloudPtr >, WriteTriggerPolicyT, FileNamePrefixGeneratorT >, and autoware::mapping::point_cloud_mapping::MapperBase< LocalizerT, MapRepresentationT, ObservationMsgT, MapIncrementT, RegistrationSummaryT, WriteTriggerPolicyT, PrefixGeneratorT >.

◆ set_map()

template<typename InputMsgT , typename MapMsgT , typename RegistrationSummaryT >

void autoware::localization::localization_common::RelativeLocalizerBase< InputMsgT, MapMsgT, RegistrationSummaryT >::set_map ( const MapMsgT & msg )

inline

Set map.

Parameters

msg	Map message.

◆ set_map_impl()

template<typename InputMsgT , typename MapMsgT , typename RegistrationSummaryT >

virtual void autoware::localization::localization_common::RelativeLocalizerBase< InputMsgT, MapMsgT, RegistrationSummaryT >::set_map_impl ( const MapMsgT & msg )

protectedpure virtual

set_map implementation.

Implemented in autoware::mapping::point_cloud_mapping::MapperBase< LocalizerT, MapRepresentationT, sensor_msgs::msg::PointCloud2, sensor_msgs::msg::PointCloud2, MapperRegistrationSummaryBase< LocalizerT::RegistrationSummary, ConstCloudPtr >, WriteTriggerPolicyT, FileNamePrefixGeneratorT >, and autoware::mapping::point_cloud_mapping::MapperBase< LocalizerT, MapRepresentationT, ObservationMsgT, MapIncrementT, RegistrationSummaryT, WriteTriggerPolicyT, PrefixGeneratorT >.

◆ set_map_invalid()

template<typename InputMsgT , typename MapMsgT , typename RegistrationSummaryT >

void autoware::localization::localization_common::RelativeLocalizerBase< InputMsgT, MapMsgT, RegistrationSummaryT >::set_map_invalid ( )

inlineprotectednoexcept

Set current map as invalid.

◆ set_map_valid()

template<typename InputMsgT , typename MapMsgT , typename RegistrationSummaryT >

void autoware::localization::localization_common::RelativeLocalizerBase< InputMsgT, MapMsgT, RegistrationSummaryT >::set_map_valid ( )

inlineprotectednoexcept

Set current map as valid.

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

localizer_base.hpp

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

template<typename InputMsgT, typename MapMsgT, typename RegistrationSummaryT> class autoware::localization::localization_common::RelativeLocalizerBase< InputMsgT, MapMsgT, RegistrationSummaryT >

Member Typedef Documentation

◆ InputMsg

◆ MapMsg

◆ PoseWithCovarianceStamped

◆ RegistrationSummary

◆ Transform

Constructor & Destructor Documentation

◆ ~RelativeLocalizerBase()

Member Function Documentation

◆ insert_to_map()

◆ insert_to_map_impl()

◆ map_frame_id()

◆ map_stamp()

◆ map_valid()

◆ on_bad_map()

◆ on_bad_map_insertion()

◆ on_register_without_map()

◆ operator=()

◆ register_measurement()

◆ register_measurement_impl()

◆ set_map()

◆ set_map_impl()

◆ set_map_invalid()

◆ set_map_valid()

template<typename InputMsgT, typename MapMsgT, typename RegistrationSummaryT>
class autoware::localization::localization_common::RelativeLocalizerBase< InputMsgT, MapMsgT, RegistrationSummaryT >