My Project 1.0
Holistic Fusion: A Generic Framework for Multimodal Sensor Fusion
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holistic_fusion::GraphManager Member List

This is the complete list of members for holistic_fusion::GraphManager, including all inherited members.

addFactorSafelyToRtAndBatchGraph_(const gtsam::NoiseModelFactor *noiseModelFactorPtr, double measurementTimestamp)holistic_fusion::GraphManagerprivate
addFactorsToBatchSmootherAndOptimize(const gtsam::NonlinearFactorGraph &newBatchGraphFactors, const gtsam::Values &newBatchGraphValues, const std::map< gtsam::Key, double > &newBatchGraphKeysTimestampsMap, const std::shared_ptr< GraphConfig > &graphConfigPtr)holistic_fusion::GraphManagerprivate
addFactorsToRtSmootherAndOptimize(const gtsam::NonlinearFactorGraph &newRtGraphFactors, const gtsam::Values &newRtGraphValues, const std::map< gtsam::Key, double > &newRtGraphKeysTimestampsMap, const std::shared_ptr< GraphConfig > &graphConfigPtr, const int additionalIterations)holistic_fusion::GraphManagerprivate
addFactorToRtAndBatchGraph_(const gtsam::NoiseModelFactor *noiseModelFactorPtr, const bool addToOnlineSmootherFlag=true)holistic_fusion::GraphManagerprivate
addFactorToRtAndBatchGraph_(const gtsam::NoiseModelFactor *noiseModelFactorPtr, double measurementTimestamp, const std::string &measurementName, const bool addToOnlineSmootherFlag=true)holistic_fusion::GraphManagerprivate
addImuFactorAndGetState(SafeIntegratedNavState &returnPreIntegratedNavState, std::shared_ptr< SafeNavStateWithCovarianceAndBias > &newOptimizedNavStatePtr, const std::shared_ptr< ImuBuffer > &imuBufferPtr, double imuTimeK, bool createNewStateFlag)holistic_fusion::GraphManager
addPoseBetweenFactor(const gtsam::Pose3 &deltaPose, const Eigen::Matrix< double, 6, 1 > &poseBetweenNoiseDensity, double lidarTimeKm1, double lidarTimeK, double rate, const RobustNormEnum &robustNormEnum, const double robustNormConstant)holistic_fusion::GraphManager
addUnaryClassicFactor(const MEASUREMENT_TYPE &unaryMeasurement, const Eigen::Matrix< double, NOISE_DIM, 1 > &unaryNoiseDensity, double measurementTime, const FACTOR_ARGS &... factorArgs)holistic_fusion::GraphManager
addUnaryHolisticFactor(const std::shared_ptr< GMSF_EXPRESSION_TYPE > gmsfUnaryExpressionPtr, const bool addToOnlineSmootherFlag=true)holistic_fusion::GraphManager
batchFactorGraphBufferPtr_holistic_fusion::GraphManagerprivate
batchGraphKeysTimestampsMapBufferPtr_holistic_fusion::GraphManagerprivate
batchGraphValuesBufferPtr_holistic_fusion::GraphManagerprivate
batchOptimizerPtr_holistic_fusion::GraphManagerprivate
calculateNavStateAtGeneralKey(bool &computeSuccessfulFlag, std::shared_ptr< holistic_fusion::OptimizerBase > graphPtr, const gtsam::Key &generalKey, const char *callingFunctionName)holistic_fusion::GraphManagerprotectedstatic
calculatePoseCovarianceAtKeyInWorldFrame(std::shared_ptr< holistic_fusion::OptimizerBase > graphPtr, const gtsam::Key &graphKey, const char *callingFunctionName, std::optional< const gtsam::NavState > optionalNavState=std::nullopt)holistic_fusion::GraphManagerprotectedstatic
calculateStateAtGeneralKey(bool &computeSuccessfulFlag, const gtsam::Key &generalKey)holistic_fusion::GraphManager
extractBatchOptimizationResult_(const bool computePoseCovarianceFlag)holistic_fusion::GraphManagerprivate
F typedefholistic_fusion::GraphManager
fileLogger_holistic_fusion::GraphManagerprivate
findGraphKeys_(gtsam::Key &closestKeyKm1, gtsam::Key &closestKeyK, double &keyTimeStampDistance, double maxTimestampDistance, double timeKm1, double timeK, const std::string &name)holistic_fusion::GraphManagerprivate
getInitAccBiasReference()holistic_fusion::GraphManagerinline
getInitGyrBiasReference()holistic_fusion::GraphManagerinline
getOptimizedGraphState()holistic_fusion::GraphManagerinline
getPropagatedStateKey()holistic_fusion::GraphManagerinline
getUnaryFactorGeneralKey(gtsam::Key &returnedKey, double &returnedGraphTime, const UnaryMeasurement &unaryMeasurement)holistic_fusion::GraphManager
graphConfigPtr_holistic_fusion::GraphManagerprivate
GraphManager(std::shared_ptr< GraphConfig > graphConfigPtr, std::string imuFrame, std::string worldFrame)holistic_fusion::GraphManager
gtsamDynamicExpressionKeys_holistic_fusion::GraphManagerprivate
hasReferenceFrameKeyframe(const std::string &worldFrame, const std::string &fixedFrame)holistic_fusion::GraphManager
imuBiasPriorPtr_holistic_fusion::GraphManagerprivate
imuBufferPreintegratorPtr_holistic_fusion::GraphManagerprivate
imuFrame_holistic_fusion::GraphManagerprivate
imuParamsPtr_holistic_fusion::GraphManagerprivate
imuStepPreintegratorPtr_holistic_fusion::GraphManagerprivate
initImuIntegrators(double gravityValue)holistic_fusion::GraphManager
initPoseVelocityBiasGraph(double timeStamp, const gtsam::Pose3 &T_W_I0, const gtsam::Pose3 &T_O_I0, const gtsam::Vector3 &imuAngularVelocity)holistic_fusion::GraphManager
lastImuVector_holistic_fusion::GraphManagerprivate
lastOptimizedStateTime_holistic_fusion::GraphManagerprivate
latencyContainer_holistic_fusion::GraphManagerprivate
latencyEndTime_holistic_fusion::GraphManagerprivate
latencyStartTime_holistic_fusion::GraphManagerprivate
latestGraphStateKeyAngularVelocity_holistic_fusion::GraphManagerprivate
latestGraphStateKeyTime_holistic_fusion::GraphManagerprivate
logLatencyAndUpdateDuration(const std::string &savePath, const std::string &timeString)holistic_fusion::GraphManager
logRealTimeNavStates(const std::string &savePath, const std::string &timeString)holistic_fusion::GraphManager
logRealTimeReferenceFrameStates(const std::string &savePath, const std::string &timeString)holistic_fusion::GraphManager
newPropagatedStateKey_()holistic_fusion::GraphManagerinlineprivate
O_imuPropagatedState_holistic_fusion::GraphManagerprivate
operateOnGraphDataMutex_holistic_fusion::GraphManagerprivate
optimizationRunningMutex_holistic_fusion::GraphManagerprivate
optimizedGraphState_holistic_fusion::GraphManagerprivate
optimizeSlowBatchSmoother(int maxIterations, const std::string &savePath, const bool saveCovarianceFlag)holistic_fusion::GraphManager
optimizeSlowBatchSmoother(int maxIterations, const bool computePoseCovarianceFlag)holistic_fusion::GraphManager
propagatedImuSampleTime_holistic_fusion::GraphManagerprivate
propagatedStateKey_holistic_fusion::GraphManagerprivate
realTimeOdomPoseContainer_holistic_fusion::GraphManagerprivate
realTimeReferenceFrameContainer_holistic_fusion::GraphManagerprivate
realTimeReferenceFrameNamePairs_holistic_fusion::GraphManagerprivate
realTimeWorldPoseContainer_holistic_fusion::GraphManagerprivate
rtFactorGraphBufferPtr_holistic_fusion::GraphManagerprivate
rtGraphKeysTimestampsMapBufferPtr_holistic_fusion::GraphManagerprivate
rtGraphValuesBufferPtr_holistic_fusion::GraphManagerprivate
rtOptimizerPtr_holistic_fusion::GraphManagerprivate
runSlowBatchSmootherOptimization_(int maxIterations)holistic_fusion::GraphManagerprivate
saveOptimizedGraphToG2o(const OptimizerBase &optimizedGraph, const gtsam::Values &optimizedValues, const std::string &saveFileName)holistic_fusion::GraphManagerstatic
saveOptimizedValuesToFile(const gtsam::Values &optimizedValues, const std::map< gtsam::Key, double > &keyTimestampMap, const std::string &savePath, const bool saveCovarianceFlag)holistic_fusion::GraphManager
setInitialWorldFrameToFixedFrameTransform(const Eigen::Isometry3d &T_W_F, const std::string &fixedFrame)holistic_fusion::GraphManager
T_W_O_holistic_fusion::GraphManagerprivate
timeToKeyBufferPtr_holistic_fusion::GraphManagerprivate
updateDurationContainer_holistic_fusion::GraphManagerprivate
updateDurationEndTime_holistic_fusion::GraphManagerprivate
updateDurationStartTime_holistic_fusion::GraphManagerprivate
updateGraph()holistic_fusion::GraphManager
updateImuIntegrators_(const TimeToImuMap &imuMeas)holistic_fusion::GraphManagerprivate
W_imuPropagatedState_holistic_fusion::GraphManagerprivate
worldFrame_holistic_fusion::GraphManagerprivate
writeKeyToKeyTimeStampMap_(const gtsam::Key &key, double measurementTime, std::shared_ptr< std::map< gtsam::Key, double > > keyTimestampMapPtr)holistic_fusion::GraphManagerinlineprivate
writeValueKeysToKeyTimeStampMap_(const gtsam::Values &values, double measurementTime, std::shared_ptr< std::map< gtsam::Key, double > > keyTimestampMapPtr)holistic_fusion::GraphManagerprivate
~GraphManager()holistic_fusion::GraphManagerinline