Autoware.Auto
autoware::localization::ndt::P2DNDTLocalizer< OptimizerT, MapT > Class Template Reference

#include <ndt_localizer.hpp>

Inheritance diagram for autoware::localization::ndt::P2DNDTLocalizer< OptimizerT, MapT >:
Collaboration diagram for autoware::localization::ndt::P2DNDTLocalizer< OptimizerT, MapT >:

Public Types

using CloudT = sensor_msgs::msg::PointCloud2
 
using ParentT = NDTLocalizerBase< P2DNDTScan, P2DNDTOptimizationProblem< MapT >, P2DNDTOptimizationConfig, OptimizerT >
 
using Transform = typename ParentT::Transform
 
using PoseWithCovarianceStamped = typename ParentT::PoseWithCovarianceStamped
 
using ScanT = P2DNDTScan
 
- Public Types inherited from autoware::localization::ndt::NDTLocalizerBase< P2DNDTScan, P2DNDTOptimizationProblem< StaticNDTMap >, P2DNDTOptimizationConfig, OptimizerT >
using Transform = geometry_msgs::msg::TransformStamped
 
using PoseWithCovarianceStamped = geometry_msgs::msg::PoseWithCovarianceStamped
 
using Summary = localization_common::OptimizedRegistrationSummary
 

Public Member Functions

 P2DNDTLocalizer (const P2DNDTLocalizerConfig &config, const OptimizerT &optimizer, const Real outlier_ratio)
 
- Public Member Functions inherited from autoware::localization::ndt::NDTLocalizerBase< P2DNDTScan, P2DNDTOptimizationProblem< StaticNDTMap >, P2DNDTOptimizationConfig, OptimizerT >
 NDTLocalizerBase (const NDTLocalizerConfigBase &config, const P2DNDTOptimizationConfig &optimization_problem_config, const OptimizerT &optimizer, P2DNDTScan &&scan)
 
PoseWithCovarianceStamped register_measurement (const CloudT &msg, const Transform &transform_initial, const MapT &map, Summary *const summary=nullptr)
 
const P2DNDTScanscan () const noexcept
 Get the last used scan. More...
 
const OptimizerT & optimizer () const noexcept
 Get the optimizer. More...
 
const NDTLocalizerConfigBaseconfig () const noexcept
 Get the localizer configuration. More...
 
const P2DNDTOptimizationConfigoptimization_problem_config () const noexcept
 Get the optimization problem configuration. More...
 

Protected Member Functions

void set_covariance (const P2DNDTOptimizationProblem< MapT > &, const EigenPose< Real > &, const EigenPose< Real > &, PoseWithCovarianceStamped &) const override
 
- Protected Member Functions inherited from autoware::localization::ndt::NDTLocalizerBase< P2DNDTScan, P2DNDTOptimizationProblem< StaticNDTMap >, P2DNDTOptimizationConfig, OptimizerT >
virtual void set_covariance (const P2DNDTOptimizationProblem< StaticNDTMap > &problem, const EigenPose< Real > &initial_guess, const EigenPose< Real > &pose_result, PoseWithCovarianceStamped &solution) const
 
void validate_msg (const CloudT &msg, const MapT &map) const
 
virtual void validate_guess (const CloudT &msg, const Transform &transform_initial) const
 

Detailed Description

template<typename OptimizerT, typename MapT = StaticNDTMap>
class autoware::localization::ndt::P2DNDTLocalizer< OptimizerT, MapT >

P2D localizer implementation. This implementation specifies a covariance computation method for the P2D optimization problem.

Template Parameters
OptimizerTOptimizer type.
OptimizerOptionsTOptimizer options type.
MapTType of map to be used. By default it is StaticNDTMap.

Member Typedef Documentation

◆ CloudT

template<typename OptimizerT , typename MapT = StaticNDTMap>
using autoware::localization::ndt::P2DNDTLocalizer< OptimizerT, MapT >::CloudT = sensor_msgs::msg::PointCloud2

◆ ParentT

template<typename OptimizerT , typename MapT = StaticNDTMap>
using autoware::localization::ndt::P2DNDTLocalizer< OptimizerT, MapT >::ParentT = NDTLocalizerBase< P2DNDTScan, P2DNDTOptimizationProblem<MapT>, P2DNDTOptimizationConfig, OptimizerT>

◆ PoseWithCovarianceStamped

template<typename OptimizerT , typename MapT = StaticNDTMap>
using autoware::localization::ndt::P2DNDTLocalizer< OptimizerT, MapT >::PoseWithCovarianceStamped = typename ParentT::PoseWithCovarianceStamped

◆ ScanT

template<typename OptimizerT , typename MapT = StaticNDTMap>
using autoware::localization::ndt::P2DNDTLocalizer< OptimizerT, MapT >::ScanT = P2DNDTScan

◆ Transform

template<typename OptimizerT , typename MapT = StaticNDTMap>
using autoware::localization::ndt::P2DNDTLocalizer< OptimizerT, MapT >::Transform = typename ParentT::Transform

Constructor & Destructor Documentation

◆ P2DNDTLocalizer()

template<typename OptimizerT , typename MapT = StaticNDTMap>
autoware::localization::ndt::P2DNDTLocalizer< OptimizerT, MapT >::P2DNDTLocalizer ( const P2DNDTLocalizerConfig config,
const OptimizerT &  optimizer,
const Real  outlier_ratio 
)
inlineexplicit

Member Function Documentation

◆ set_covariance()

template<typename OptimizerT , typename MapT = StaticNDTMap>
void autoware::localization::ndt::P2DNDTLocalizer< OptimizerT, MapT >::set_covariance ( const P2DNDTOptimizationProblem< MapT > &  ,
const EigenPose< Real > &  ,
const EigenPose< Real > &  ,
PoseWithCovarianceStamped  
) const
inlineoverrideprotected

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