#include <point_cloud_mapper.hpp>

Inheritance diagram for autoware::mapping::point_cloud_mapping::MapperBase< LocalizerT, MapRepresentationT, ObservationMsgT, MapIncrementT, RegistrationSummaryT, WriteTriggerPolicyT, PrefixGeneratorT >:

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Collaboration diagram for autoware::mapping::point_cloud_mapping::MapperBase< LocalizerT, MapRepresentationT, ObservationMsgT, MapIncrementT, RegistrationSummaryT, WriteTriggerPolicyT, PrefixGeneratorT >:

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

using	TransformStamped = geometry_msgs::msg::TransformStamped

using	MaybeLocalizerSummary = std::experimental::optional< typename LocalizerT::RegistrationSummary >

using	MapIncrementPtrT = std::shared_ptr< MapIncrementT >

using	ConstMapIncrementPtrT = std::shared_ptr< const MapIncrementT >

using	RegistrationSummary = RegistrationSummaryT

using	LocalizerBase = localization::localization_common::RelativeLocalizerBase< ObservationMsgT, MapIncrementT, typename LocalizerT::RegistrationSummary >

using	LocalizerBasePtr = std::unique_ptr< LocalizerBase >

Public Types inherited from autoware::localization::localization_common::RelativeLocalizerBase< ObservationMsgT, MapIncrementT, RegistrationSummaryT >
using	PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped

using	Transform = geometry_msgs::msg::TransformStamped

using	RegistrationSummary = RegistrationSummaryT

using	InputMsg = ObservationMsgT

using	MapMsg = MapIncrementT

Public Member Functions
	MapperBase (const std::string &map_filename_prefix, MapRepresentationT &&map, LocalizerBasePtr &&localizer_ptr, const std::string map_frame_id)

RegistrationSummaryT	register_measurement_impl (const ObservationMsgT &msg, const TransformStamped &transform_initial, PoseWithCovarianceStamped &pose_out) override

const std::string &	map_frame_id () const noexcept override

void	set_map_impl (const MapIncrementT &msg) override
	`set_map` implementation. More...

std::chrono::system_clock::time_point	map_stamp () const noexcept override

void	insert_to_map_impl (const MapIncrementT &msg) override
	`insert_to_map` implementation. More...

virtual	~MapperBase ()
	Virtual base destructor. Triggers map writing in case there is unwritten data in the map. More...

Public Member Functions inherited from autoware::localization::localization_common::RelativeLocalizerBase< ObservationMsgT, MapIncrementT, RegistrationSummaryT >
RegistrationSummaryT	register_measurement (const ObservationMsgT &msg, const Transform &transform_initial, PoseWithCovarianceStamped &pose_out)

void	set_map (const MapIncrementT &msg)

void	insert_to_map (const MapIncrementT &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
void	write_to_file () const

void	set_write_trigger (WriteTriggerPolicyT &&write_trigger)

void	set_prefix_generator (PrefixGeneratorT &&prefix_generator)

PoseWithCovarianceStamped	get_identity (builtin_interfaces::msg::Time stamp, const std::string frame_id) const noexcept

Protected Member Functions inherited from autoware::localization::localization_common::RelativeLocalizerBase< ObservationMsgT, MapIncrementT, RegistrationSummaryT >
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...

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 LocalizerT, typename MapRepresentationT, typename ObservationMsgT, typename MapIncrementT, typename RegistrationSummaryT, class WriteTriggerPolicyT, class PrefixGeneratorT>
class autoware::mapping::point_cloud_mapping::MapperBase< LocalizerT, MapRepresentationT, ObservationMsgT, MapIncrementT, RegistrationSummaryT, WriteTriggerPolicyT, PrefixGeneratorT >

Virtual base class of the mapper. The mapper is expected to:

Receive observations
Register observations to the existing map
Compute and pass the map increment to the used map representation and export the map according to the provided policies.

Fulfill the API of a RelativeLocalizer.

Template Parameters

LocalizerT	Localizer to be used for registration.
MapRepresentationT	Map representation type used in the mapper.
ObservationMsgT	Type of observation used to build the map.
MapIncrementT	Type of increment to extend the map representation.
RegistrationSummaryT	Summary class to report the result of mapper registration.
WriteTriggerPolicyT	Policy specifying in what condition to write to a file.
PrefixGeneratorT	Functor that generates filename prefixes for a given base prefix.

Member Typedef Documentation

◆ ConstMapIncrementPtrT

template<typename LocalizerT , typename MapRepresentationT , typename ObservationMsgT , typename MapIncrementT , typename RegistrationSummaryT , class WriteTriggerPolicyT , class PrefixGeneratorT >

using autoware::mapping::point_cloud_mapping::MapperBase< LocalizerT, MapRepresentationT, ObservationMsgT, MapIncrementT, RegistrationSummaryT, WriteTriggerPolicyT, PrefixGeneratorT >::ConstMapIncrementPtrT = std::shared_ptr<const MapIncrementT>

◆ LocalizerBase

template<typename LocalizerT , typename MapRepresentationT , typename ObservationMsgT , typename MapIncrementT , typename RegistrationSummaryT , class WriteTriggerPolicyT , class PrefixGeneratorT >

using autoware::mapping::point_cloud_mapping::MapperBase< LocalizerT, MapRepresentationT, ObservationMsgT, MapIncrementT, RegistrationSummaryT, WriteTriggerPolicyT, PrefixGeneratorT >::LocalizerBase = localization::localization_common:: RelativeLocalizerBase<ObservationMsgT, MapIncrementT, typename LocalizerT::RegistrationSummary>

◆ LocalizerBasePtr

template<typename LocalizerT , typename MapRepresentationT , typename ObservationMsgT , typename MapIncrementT , typename RegistrationSummaryT , class WriteTriggerPolicyT , class PrefixGeneratorT >

using autoware::mapping::point_cloud_mapping::MapperBase< LocalizerT, MapRepresentationT, ObservationMsgT, MapIncrementT, RegistrationSummaryT, WriteTriggerPolicyT, PrefixGeneratorT >::LocalizerBasePtr = std::unique_ptr<LocalizerBase>

◆ MapIncrementPtrT

template<typename LocalizerT , typename MapRepresentationT , typename ObservationMsgT , typename MapIncrementT , typename RegistrationSummaryT , class WriteTriggerPolicyT , class PrefixGeneratorT >

using autoware::mapping::point_cloud_mapping::MapperBase< LocalizerT, MapRepresentationT, ObservationMsgT, MapIncrementT, RegistrationSummaryT, WriteTriggerPolicyT, PrefixGeneratorT >::MapIncrementPtrT = std::shared_ptr<MapIncrementT>

◆ MaybeLocalizerSummary

template<typename LocalizerT , typename MapRepresentationT , typename ObservationMsgT , typename MapIncrementT , typename RegistrationSummaryT , class WriteTriggerPolicyT , class PrefixGeneratorT >

using autoware::mapping::point_cloud_mapping::MapperBase< LocalizerT, MapRepresentationT, ObservationMsgT, MapIncrementT, RegistrationSummaryT, WriteTriggerPolicyT, PrefixGeneratorT >::MaybeLocalizerSummary = std::experimental::optional<typename LocalizerT::RegistrationSummary>

◆ PoseWithCovarianceStamped

template<typename LocalizerT , typename MapRepresentationT , typename ObservationMsgT , typename MapIncrementT , typename RegistrationSummaryT , class WriteTriggerPolicyT , class PrefixGeneratorT >

using autoware::mapping::point_cloud_mapping::MapperBase< LocalizerT, MapRepresentationT, ObservationMsgT, MapIncrementT, RegistrationSummaryT, WriteTriggerPolicyT, PrefixGeneratorT >::PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped

◆ RegistrationSummary

template<typename LocalizerT , typename MapRepresentationT , typename ObservationMsgT , typename MapIncrementT , typename RegistrationSummaryT , class WriteTriggerPolicyT , class PrefixGeneratorT >

using autoware::mapping::point_cloud_mapping::MapperBase< LocalizerT, MapRepresentationT, ObservationMsgT, MapIncrementT, RegistrationSummaryT, WriteTriggerPolicyT, PrefixGeneratorT >::RegistrationSummary = RegistrationSummaryT

◆ TransformStamped

template<typename LocalizerT , typename MapRepresentationT , typename ObservationMsgT , typename MapIncrementT , typename RegistrationSummaryT , class WriteTriggerPolicyT , class PrefixGeneratorT >

using autoware::mapping::point_cloud_mapping::MapperBase< LocalizerT, MapRepresentationT, ObservationMsgT, MapIncrementT, RegistrationSummaryT, WriteTriggerPolicyT, PrefixGeneratorT >::TransformStamped = geometry_msgs::msg::TransformStamped

Constructor & Destructor Documentation

◆ MapperBase()

template<typename LocalizerT , typename MapRepresentationT , typename ObservationMsgT , typename MapIncrementT , typename RegistrationSummaryT , class WriteTriggerPolicyT , class PrefixGeneratorT >

autoware::mapping::point_cloud_mapping::MapperBase< LocalizerT, MapRepresentationT, ObservationMsgT, MapIncrementT, RegistrationSummaryT, WriteTriggerPolicyT, PrefixGeneratorT >::MapperBase	(	const std::string &	map_filename_prefix,
		MapRepresentationT &&	map,
		LocalizerBasePtr &&	localizer_ptr,
		const std::string	map_frame_id
	)

inline

Constructor.

Parameters

map_filename_prefix	Base filename prefix that will be used to generate the file name.
localizer_ptr	Rvalue reference to the localizer pointer.
map_frame_id	Frame ID of the map.
map	Rvalue reference to the map representation pointer.

◆ ~MapperBase()

template<typename LocalizerT , typename MapRepresentationT , typename ObservationMsgT , typename MapIncrementT , typename RegistrationSummaryT , class WriteTriggerPolicyT , class PrefixGeneratorT >

virtual autoware::mapping::point_cloud_mapping::MapperBase< LocalizerT, MapRepresentationT, ObservationMsgT, MapIncrementT, RegistrationSummaryT, WriteTriggerPolicyT, PrefixGeneratorT >::~MapperBase ( )

inlinevirtual

Virtual base destructor. Triggers map writing in case there is unwritten data in the map.

Member Function Documentation

◆ get_identity()

template<typename LocalizerT , typename MapRepresentationT , typename ObservationMsgT , typename MapIncrementT , typename RegistrationSummaryT , class WriteTriggerPolicyT , class PrefixGeneratorT >

PoseWithCovarianceStamped autoware::mapping::point_cloud_mapping::MapperBase< LocalizerT, MapRepresentationT, ObservationMsgT, MapIncrementT, RegistrationSummaryT, WriteTriggerPolicyT, PrefixGeneratorT >::get_identity	(	builtin_interfaces::msg::Time	stamp,
		const std::string	frame_id
	)		const

inlineprotectednoexcept

◆ insert_to_map_impl()

template<typename LocalizerT , typename MapRepresentationT , typename ObservationMsgT , typename MapIncrementT , typename RegistrationSummaryT , class WriteTriggerPolicyT , class PrefixGeneratorT >

void autoware::mapping::point_cloud_mapping::MapperBase< LocalizerT, MapRepresentationT, ObservationMsgT, MapIncrementT, RegistrationSummaryT, WriteTriggerPolicyT, PrefixGeneratorT >::insert_to_map_impl ( const MapIncrementT & )

inlineoverridevirtual

insert_to_map implementation.

Reimplemented from autoware::localization::localization_common::RelativeLocalizerBase< ObservationMsgT, MapIncrementT, RegistrationSummaryT >.

◆ map_frame_id()

template<typename LocalizerT , typename MapRepresentationT , typename ObservationMsgT , typename MapIncrementT , typename RegistrationSummaryT , class WriteTriggerPolicyT , class PrefixGeneratorT >

const std::string& autoware::mapping::point_cloud_mapping::MapperBase< LocalizerT, MapRepresentationT, ObservationMsgT, MapIncrementT, RegistrationSummaryT, WriteTriggerPolicyT, PrefixGeneratorT >::map_frame_id ( ) const

inlineoverridenoexcept

◆ map_stamp()

template<typename LocalizerT , typename MapRepresentationT , typename ObservationMsgT , typename MapIncrementT , typename RegistrationSummaryT , class WriteTriggerPolicyT , class PrefixGeneratorT >

std::chrono::system_clock::time_point autoware::mapping::point_cloud_mapping::MapperBase< LocalizerT, MapRepresentationT, ObservationMsgT, MapIncrementT, RegistrationSummaryT, WriteTriggerPolicyT, PrefixGeneratorT >::map_stamp ( ) const

inlineoverridenoexcept

◆ register_measurement_impl()

template<typename LocalizerT , typename MapRepresentationT , typename ObservationMsgT , typename MapIncrementT , typename RegistrationSummaryT , class WriteTriggerPolicyT , class PrefixGeneratorT >

RegistrationSummaryT autoware::mapping::point_cloud_mapping::MapperBase< LocalizerT, MapRepresentationT, ObservationMsgT, MapIncrementT, RegistrationSummaryT, WriteTriggerPolicyT, PrefixGeneratorT >::register_measurement_impl	(	const ObservationMsgT &	msg,
		const TransformStamped &	transform_initial,
		PoseWithCovarianceStamped &	pose_out
	)

inlineoverridevirtual

Insert an observation to the mapper. This observation gets registered to the existing map of the localizer. The increment is computed using the registration result and the observation and finally the increment is passed to the map representation.

Implements autoware::localization::localization_common::RelativeLocalizerBase< ObservationMsgT, MapIncrementT, RegistrationSummaryT >.

◆ set_map_impl()

template<typename LocalizerT , typename MapRepresentationT , typename ObservationMsgT , typename MapIncrementT , typename RegistrationSummaryT , class WriteTriggerPolicyT , class PrefixGeneratorT >

void autoware::mapping::point_cloud_mapping::MapperBase< LocalizerT, MapRepresentationT, ObservationMsgT, MapIncrementT, RegistrationSummaryT, WriteTriggerPolicyT, PrefixGeneratorT >::set_map_impl ( const MapIncrementT & msg )

inlineoverridevirtual

set_map implementation.

Implements autoware::localization::localization_common::RelativeLocalizerBase< ObservationMsgT, MapIncrementT, RegistrationSummaryT >.

◆ set_prefix_generator()

template<typename LocalizerT , typename MapRepresentationT , typename ObservationMsgT , typename MapIncrementT , typename RegistrationSummaryT , class WriteTriggerPolicyT , class PrefixGeneratorT >

void autoware::mapping::point_cloud_mapping::MapperBase< LocalizerT, MapRepresentationT, ObservationMsgT, MapIncrementT, RegistrationSummaryT, WriteTriggerPolicyT, PrefixGeneratorT >::set_prefix_generator ( PrefixGeneratorT && prefix_generator )

inlineprotected

◆ set_write_trigger()

template<typename LocalizerT , typename MapRepresentationT , typename ObservationMsgT , typename MapIncrementT , typename RegistrationSummaryT , class WriteTriggerPolicyT , class PrefixGeneratorT >

void autoware::mapping::point_cloud_mapping::MapperBase< LocalizerT, MapRepresentationT, ObservationMsgT, MapIncrementT, RegistrationSummaryT, WriteTriggerPolicyT, PrefixGeneratorT >::set_write_trigger ( WriteTriggerPolicyT && write_trigger )

inlineprotected

◆ write_to_file()

template<typename LocalizerT , typename MapRepresentationT , typename ObservationMsgT , typename MapIncrementT , typename RegistrationSummaryT , class WriteTriggerPolicyT , class PrefixGeneratorT >

void autoware::mapping::point_cloud_mapping::MapperBase< LocalizerT, MapRepresentationT, ObservationMsgT, MapIncrementT, RegistrationSummaryT, WriteTriggerPolicyT, PrefixGeneratorT >::write_to_file ( ) const

inlineprotected

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

point_cloud_mapper.hpp

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

Member Typedef Documentation

◆ ConstMapIncrementPtrT

◆ LocalizerBase

◆ LocalizerBasePtr

◆ MapIncrementPtrT

◆ MaybeLocalizerSummary

◆ PoseWithCovarianceStamped

◆ RegistrationSummary

◆ TransformStamped

Constructor & Destructor Documentation

◆ MapperBase()

◆ ~MapperBase()

Member Function Documentation

◆ get_identity()

◆ insert_to_map_impl()

◆ map_frame_id()

◆ map_stamp()

◆ register_measurement_impl()

◆ set_map_impl()

◆ set_prefix_generator()

◆ set_write_trigger()

◆ write_to_file()