#include <point_cloud_mapper.hpp>

Inheritance diagram for autoware::mapping::point_cloud_mapping::PointCloudMapper< LocalizerT, MapRepresentationT, WriteTriggerPolicyT, FileNamePrefixGeneratorT >:

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Collaboration diagram for autoware::mapping::point_cloud_mapping::PointCloudMapper< LocalizerT, MapRepresentationT, WriteTriggerPolicyT, FileNamePrefixGeneratorT >:

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Public Types
using	RegistrationSummary = MapperRegistrationSummaryBase< typename LocalizerT::RegistrationSummary, ConstCloudPtr >

using	Base = MapperBase< LocalizerT, MapRepresentationT, sensor_msgs::msg::PointCloud2, sensor_msgs::msg::PointCloud2, RegistrationSummary, WriteTriggerPolicyT, FileNamePrefixGeneratorT >

using	PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped

using	LocalizerBasePtr = typename Base::LocalizerBasePtr

Public Types inherited from autoware::mapping::point_cloud_mapping::MapperBase< LocalizerT, MapRepresentationT, sensor_msgs::msg::PointCloud2, sensor_msgs::msg::PointCloud2, MapperRegistrationSummaryBase< LocalizerT::RegistrationSummary, ConstCloudPtr >, WriteTriggerPolicyT, FileNamePrefixGeneratorT >
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< sensor_msgs::msg::PointCloud2 >

using	ConstMapIncrementPtrT = std::shared_ptr< const sensor_msgs::msg::PointCloud2 >

using	RegistrationSummary = MapperRegistrationSummaryBase< LocalizerT::RegistrationSummary, ConstCloudPtr >

using	LocalizerBase = localization::localization_common::RelativeLocalizerBase< sensor_msgs::msg::PointCloud2, sensor_msgs::msg::PointCloud2, typename LocalizerT::RegistrationSummary >

using	LocalizerBasePtr = std::unique_ptr< LocalizerBase >

Public Types inherited from autoware::localization::localization_common::RelativeLocalizerBase< sensor_msgs::msg::PointCloud2, sensor_msgs::msg::PointCloud2, MapperRegistrationSummaryBase< LocalizerT::RegistrationSummary, ConstCloudPtr > >
using	PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped

using	Transform = geometry_msgs::msg::TransformStamped

using	RegistrationSummary = MapperRegistrationSummaryBase< LocalizerT::RegistrationSummary, ConstCloudPtr >

using	InputMsg = sensor_msgs::msg::PointCloud2

using	MapMsg = sensor_msgs::msg::PointCloud2

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

Public Member Functions inherited from autoware::mapping::point_cloud_mapping::MapperBase< LocalizerT, MapRepresentationT, sensor_msgs::msg::PointCloud2, sensor_msgs::msg::PointCloud2, MapperRegistrationSummaryBase< LocalizerT::RegistrationSummary, ConstCloudPtr >, WriteTriggerPolicyT, FileNamePrefixGeneratorT >
	MapperBase (const std::string &map_filename_prefix, MapRepresentationT &&map, LocalizerBasePtr &&localizer_ptr, const std::string map_frame_id)

MapperRegistrationSummaryBase< LocalizerT::RegistrationSummary, ConstCloudPtr >	register_measurement_impl (const sensor_msgs::msg::PointCloud2 &msg, const TransformStamped &transform_initial, PoseWithCovarianceStamped &pose_out) override

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

void	set_map_impl (const sensor_msgs::msg::PointCloud2 &msg) override
	`set_map` implementation. More...

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

void	insert_to_map_impl (const sensor_msgs::msg::PointCloud2 &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< sensor_msgs::msg::PointCloud2, sensor_msgs::msg::PointCloud2, MapperRegistrationSummaryBase< LocalizerT::RegistrationSummary, ConstCloudPtr > >
MapperRegistrationSummaryBase< LocalizerT::RegistrationSummary, ConstCloudPtr >	register_measurement (const sensor_msgs::msg::PointCloud2 &msg, const Transform &transform_initial, PoseWithCovarianceStamped &pose_out)

void	set_map (const sensor_msgs::msg::PointCloud2 &msg)

void	insert_to_map (const sensor_msgs::msg::PointCloud2 &msg)

bool	map_valid () const noexcept

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

virtual	~RelativeLocalizerBase ()=default

Additional Inherited Members
Protected Member Functions inherited from autoware::mapping::point_cloud_mapping::MapperBase< LocalizerT, MapRepresentationT, sensor_msgs::msg::PointCloud2, sensor_msgs::msg::PointCloud2, MapperRegistrationSummaryBase< LocalizerT::RegistrationSummary, ConstCloudPtr >, WriteTriggerPolicyT, FileNamePrefixGeneratorT >
void	write_to_file () const

void	set_write_trigger (WriteTriggerPolicyT &&write_trigger)

void	set_prefix_generator (FileNamePrefixGeneratorT &&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< sensor_msgs::msg::PointCloud2, sensor_msgs::msg::PointCloud2, MapperRegistrationSummaryBase< LocalizerT::RegistrationSummary, ConstCloudPtr > >
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, class WriteTriggerPolicyT, class FileNamePrefixGeneratorT>
class autoware::mapping::point_cloud_mapping::PointCloudMapper< LocalizerT, MapRepresentationT, WriteTriggerPolicyT, FileNamePrefixGeneratorT >

PointCloudMapper creates maps from point cloud observations.

Template Parameters

LocalizerT	Localizer type used for registration.
WriteTriggerPolicyT	Policy specifying in what condition to write to a file.
PrefixGeneratorT	Functor that generates filename prefixes for a given base prefix.