My Project 1.0
Holistic Fusion: A Generic Framework for Multimodal Sensor Fusion
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holistic_fusion::TrajectoryAlignment Class Reference

#include <TrajectoryAlignment.h>

Collaboration diagram for holistic_fusion::TrajectoryAlignment:
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Public Member Functions

 TrajectoryAlignment ()
void addSe3Position (Eigen::Vector3d position, double time)
void addR3Position (Eigen::Vector3d position, double time)
bool alignTrajectories (double &yaw, Eigen::Isometry3d &returnTransform)
void setR3Rate (const double r3Rate)
void setSe3Rate (const double se3Rate)
void setMinDistanceHeadingInit (const double minDistanceHeadingInit)
void setNoMovementDistance (const double noMovementDistance)
void setNoMovementTime (const double noMovementTime)
std::vector< std::pair< double, Eigen::Vector3d > > getSe3Trajectory ()
std::vector< std::pair< double, Eigen::Vector3d > > getR3Trajectory ()

Private Member Functions

bool associateTrajectories (Trajectory &trajectoryA, Trajectory &trajectoryB, Trajectory &newTrajectoryA, Trajectory &newTrajectoryB)
bool trajectoryAlignment (Trajectory &trajectoryA, Trajectory &trajectoryB, Eigen::Isometry3d &returnTransform)

Private Attributes

Trajectory r3Trajectory_
Trajectory se3Trajectory_
double r3Rate_ {20.0}
double se3Rate_ {10.0}
double minDistanceHeadingInit_ {3.0}
double noMovementDistance_ {1.0}
double noMovementTime_ {3.0}
bool firstAlignmentTryFlag_ {true}
std::mutex alignmentMutex

Detailed Description

Definition at line 25 of file TrajectoryAlignment.h.

Constructor & Destructor Documentation

◆ TrajectoryAlignment()

holistic_fusion::TrajectoryAlignment::TrajectoryAlignment ( )

Definition at line 17 of file TrajectoryAlignment.cpp.

Member Function Documentation

◆ addR3Position()

void holistic_fusion::TrajectoryAlignment::addR3Position ( Eigen::Vector3d position,
double time )

Definition at line 48 of file TrajectoryAlignment.cpp.

◆ addSe3Position()

void holistic_fusion::TrajectoryAlignment::addSe3Position ( Eigen::Vector3d position,
double time )

Definition at line 43 of file TrajectoryAlignment.cpp.

◆ alignTrajectories()

bool holistic_fusion::TrajectoryAlignment::alignTrajectories ( double & yaw,
Eigen::Isometry3d & returnTransform )

Definition at line 118 of file TrajectoryAlignment.cpp.

◆ associateTrajectories()

bool holistic_fusion::TrajectoryAlignment::associateTrajectories ( Trajectory & trajectoryA,
Trajectory & trajectoryB,
Trajectory & newTrajectoryA,
Trajectory & newTrajectoryB )
private

Definition at line 53 of file TrajectoryAlignment.cpp.

◆ getR3Trajectory()

std::vector< std::pair< double, Eigen::Vector3d > > holistic_fusion::TrajectoryAlignment::getR3Trajectory ( )

Definition at line 32 of file TrajectoryAlignment.cpp.

◆ getSe3Trajectory()

std::vector< std::pair< double, Eigen::Vector3d > > holistic_fusion::TrajectoryAlignment::getSe3Trajectory ( )

Definition at line 21 of file TrajectoryAlignment.cpp.

◆ setMinDistanceHeadingInit()

void holistic_fusion::TrajectoryAlignment::setMinDistanceHeadingInit ( const double minDistanceHeadingInit)
inline

Definition at line 37 of file TrajectoryAlignment.h.

◆ setNoMovementDistance()

void holistic_fusion::TrajectoryAlignment::setNoMovementDistance ( const double noMovementDistance)
inline

Definition at line 38 of file TrajectoryAlignment.h.

◆ setNoMovementTime()

void holistic_fusion::TrajectoryAlignment::setNoMovementTime ( const double noMovementTime)
inline

Definition at line 39 of file TrajectoryAlignment.h.

◆ setR3Rate()

void holistic_fusion::TrajectoryAlignment::setR3Rate ( const double r3Rate)
inline

Definition at line 35 of file TrajectoryAlignment.h.

◆ setSe3Rate()

void holistic_fusion::TrajectoryAlignment::setSe3Rate ( const double se3Rate)
inline

Definition at line 36 of file TrajectoryAlignment.h.

◆ trajectoryAlignment()

bool holistic_fusion::TrajectoryAlignment::trajectoryAlignment ( Trajectory & trajectoryA,
Trajectory & trajectoryB,
Eigen::Isometry3d & returnTransform )
private

Definition at line 94 of file TrajectoryAlignment.cpp.

Member Data Documentation

◆ alignmentMutex

std::mutex holistic_fusion::TrajectoryAlignment::alignmentMutex
private

Definition at line 63 of file TrajectoryAlignment.h.

◆ firstAlignmentTryFlag_

bool holistic_fusion::TrajectoryAlignment::firstAlignmentTryFlag_ {true}
private

Definition at line 60 of file TrajectoryAlignment.h.

◆ minDistanceHeadingInit_

double holistic_fusion::TrajectoryAlignment::minDistanceHeadingInit_ {3.0}
private

Definition at line 57 of file TrajectoryAlignment.h.

◆ noMovementDistance_

double holistic_fusion::TrajectoryAlignment::noMovementDistance_ {1.0}
private

Definition at line 58 of file TrajectoryAlignment.h.

◆ noMovementTime_

double holistic_fusion::TrajectoryAlignment::noMovementTime_ {3.0}
private

Definition at line 59 of file TrajectoryAlignment.h.

◆ r3Rate_

double holistic_fusion::TrajectoryAlignment::r3Rate_ {20.0}
private

Definition at line 55 of file TrajectoryAlignment.h.

◆ r3Trajectory_

Trajectory holistic_fusion::TrajectoryAlignment::r3Trajectory_
private

Definition at line 51 of file TrajectoryAlignment.h.

◆ se3Rate_

double holistic_fusion::TrajectoryAlignment::se3Rate_ {10.0}
private

Definition at line 56 of file TrajectoryAlignment.h.

◆ se3Trajectory_

Trajectory holistic_fusion::TrajectoryAlignment::se3Trajectory_
private

Definition at line 52 of file TrajectoryAlignment.h.

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