autoware::localization::localization_nodes::traits::LocalizerConstraint< LocalizerT, InputT, MapT, SummaryT

This struct specifies the interface requirements of LocalizerT, given the InputT, MapT and SummaryT parameters of a relative localizer node. Please refer to the documentation of the expressions within the constraint to understand the API requirements better. The constraint expresses the constraints as static assertions, hence if the constraint is not satisfied, the compilation will not succeed. To be able to use the constraint, either include in the list of template parameters via the Requires keyword as: Requires = LocalizerConstraint<T1, T2, T3> or simply instantiate it anywhere in the code as LocalizerConstraint<T1, T2, T3> constraint{}; More...

#include <constraints.hpp>

Public Types
template<typename Localizer >
using	call_register = decltype(std::declval< Localizer >().register_measurement(std::declval< InputT >(), std::declval< geometry_msgs::msg::TransformStamped >(), std::declval< MapT >(), std::declval< SummaryT *const >()))
	This expression requires a method that registers a measurement to the current map and returns the estimated pose of the vehicle and its validity. More...

Static Public Attributes
static constexpr Requires	value {}

Detailed Description

template<typename LocalizerT, typename InputT, typename MapT, typename SummaryT = localization_common::OptimizedRegistrationSummary>
struct autoware::localization::localization_nodes::traits::LocalizerConstraint< LocalizerT, InputT, MapT, SummaryT >

Template Parameters

LocalizerT
InputT
MapT
SummaryT

Member Typedef Documentation

◆ call_register

template<typename LocalizerT , typename InputT , typename MapT , typename SummaryT = localization_common::OptimizedRegistrationSummary>

template<typename Localizer >

using autoware::localization::localization_nodes::traits::LocalizerConstraint< LocalizerT, InputT, MapT, SummaryT >::call_register = decltype(std::declval<Localizer>().register_measurement( std::declval<InputT>(), std::declval<geometry_msgs::msg::TransformStamped>(), std::declval<MapT>(), std::declval<SummaryT * const>()) )

This expression requires a method that 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.
[in]	map	Map to register.
[out]	summary	Raw pointer to the registration summary for optional summary filling.

Returns: Pose estimate after registration.

Member Data Documentation

◆ value

template<typename LocalizerT , typename InputT , typename MapT , typename SummaryT >

constexpr Requires autoware::localization::localization_nodes::traits::LocalizerConstraint< LocalizerT, InputT, MapT, SummaryT >::value {}

staticconstexpr

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

localization_nodes/include/localization_nodes/constraints.hpp

Public Types