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Holistic Fusion: A Generic Framework for Multimodal Sensor Fusion
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holistic_fusion::DynamicTransformDictionary< GTSAM_DYNAMIC_STATE_TYPE > Class Template Reference

#include <DynamicTransformDictionary.h>

Inheritance diagram for holistic_fusion::DynamicTransformDictionary< GTSAM_DYNAMIC_STATE_TYPE >:
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Collaboration diagram for holistic_fusion::DynamicTransformDictionary< GTSAM_DYNAMIC_STATE_TYPE >:
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Public Member Functions

 DynamicTransformDictionary ()
 ~DynamicTransformDictionary ()=default
bool removeTransform (const std::string &frame1, const std::string &frame2, DynamicFactorGraphStateKey< GTSAM_DYNAMIC_STATE_TYPE > &returnRemovedKey) override
bool removeOrDeactivateTransform (const std::string &frame1, const std::string &frame2)
bool getFramePairFromGtsamKey (std::pair< std::string, std::string > &framePairRef, const gtsam::Key &gtsamKey) const
bool getKeyframePositionFromGtsamKey (Eigen::Vector3d &keyframePositionRef, const gtsam::Key &gtsamKey) const
const std::map< gtsam::Key, std::pair< std::string, std::string > > & getTransformGtsamKeyToFramePairMap () const
template<char SYMBOL_CHAR>
DynamicFactorGraphStateKey< GTSAM_DYNAMIC_STATE_TYPE > getTransformationKey (bool &newGraphKeyAdded, const std::string &frame1, const std::string &frame2, const double timeK, const gtsam::Pose3 &approximateTransformationBeforeOptimization, const DynamicVariableType &variableType)
bool getInitialGuessForFramePair (const std::string &frame1, const std::string &frame2, GTSAM_DYNAMIC_STATE_TYPE &initialGuessRef) const
template<char SYMBOL_CHAR>
bool addNewFramePairSafelyToDictionary (DynamicFactorGraphStateKey< GTSAM_DYNAMIC_STATE_TYPE > &returnStateKey, const std::string &frame1, const std::string &frame2, const double timeK, const gtsam::Pose3 &approximateTransformationBeforeOptimization, const DynamicVariableType &variableType)
void setInitialGuessForFramePair (const std::string &frame1, const std::string &frame2, const GTSAM_DYNAMIC_STATE_TYPE &initialGuess)
void removeInitialGuessForFramePair (const std::string &frame1, const std::string &frame2)
template<char SYMBOL_CHAR>
DynamicFactorGraphStateKey< GTSAM_DYNAMIC_STATE_TYPE > addNewFactorGraphStateKey (const std::string &frame1, const std::string &frame2, const double timeK, const gtsam::Pose3 &approximateTransformationBeforeOptimization, const DynamicVariableType &variableType)
std::mutex & mutex ()
Public Member Functions inherited from holistic_fusion::TransformsDictionary< DynamicFactorGraphStateKey< GTSAM_DYNAMIC_STATE_TYPE > >
 TransformsDictionary (DynamicFactorGraphStateKey< GTSAM_DYNAMIC_STATE_TYPE > identityObject)
bool isFramePairInDictionary (const std::string &frame1, const std::string &frame2)
size_t getNumberStoredTransformationPairs ()
DynamicFactorGraphStateKey< GTSAM_DYNAMIC_STATE_TYPE > & lv_T_frame1_frame2 (const std::string &frame1, const std::string &frame2)
const DynamicFactorGraphStateKey< GTSAM_DYNAMIC_STATE_TYPE > & rv_T_frame1_frame2 (const std::string &frame1, const std::string &frame2) const
std::map< std::pair< std::string, std::string >, DynamicFactorGraphStateKey< GTSAM_DYNAMIC_STATE_TYPE > > & getTransformsMap ()
void set_T_frame1_frame2_andInverse (const std::string &frame1, const std::string &frame2, const DynamicFactorGraphStateKey< GTSAM_DYNAMIC_STATE_TYPE > &T_frame1_frame2)
void set_T_frame1_frame2 (const std::string &frame1, const std::string &frame2, const DynamicFactorGraphStateKey< GTSAM_DYNAMIC_STATE_TYPE > T_frame1_frame2)

Private Attributes

std::map< gtsam::Key, std::pair< std::string, std::string > > transformGtsamKeyToFramePairMap_
std::map< gtsam::Key, Eigen::Vector3d > transformGtsamKeyToKeyframePositionMap_
std::map< std::pair< std::string, std::string >, GTSAM_DYNAMIC_STATE_TYPE > transformGtsamKeyToInitialGuessMap_
std::mutex internalDictionaryModifierMutex_
std::mutex externalModifierMutex_
std::array< unsigned long, sizeof(ADMISSIBLE_DYNAMIC_SYMBOL_CHARS)> numStoredTransformsPerSymbol_

Detailed Description

template<class GTSAM_DYNAMIC_STATE_TYPE>
class holistic_fusion::DynamicTransformDictionary< GTSAM_DYNAMIC_STATE_TYPE >

Definition at line 33 of file DynamicTransformDictionary.h.

Constructor & Destructor Documentation

◆ DynamicTransformDictionary()

template<class GTSAM_DYNAMIC_STATE_TYPE>
holistic_fusion::DynamicTransformDictionary< GTSAM_DYNAMIC_STATE_TYPE >::DynamicTransformDictionary ( )
inline

Definition at line 36 of file DynamicTransformDictionary.h.

◆ ~DynamicTransformDictionary()

template<class GTSAM_DYNAMIC_STATE_TYPE>
holistic_fusion::DynamicTransformDictionary< GTSAM_DYNAMIC_STATE_TYPE >::~DynamicTransformDictionary ( )
default

Member Function Documentation

◆ addNewFactorGraphStateKey()

template<class GTSAM_DYNAMIC_STATE_TYPE>
template<char SYMBOL_CHAR>
DynamicFactorGraphStateKey< GTSAM_DYNAMIC_STATE_TYPE > holistic_fusion::DynamicTransformDictionary< GTSAM_DYNAMIC_STATE_TYPE >::addNewFactorGraphStateKey ( const std::string & frame1,
const std::string & frame2,
const double timeK,
const gtsam::Pose3 & approximateTransformationBeforeOptimization,
const DynamicVariableType & variableType )
inline

Definition at line 218 of file DynamicTransformDictionary.h.

◆ addNewFramePairSafelyToDictionary()

template<class GTSAM_DYNAMIC_STATE_TYPE>
template<char SYMBOL_CHAR>
bool holistic_fusion::DynamicTransformDictionary< GTSAM_DYNAMIC_STATE_TYPE >::addNewFramePairSafelyToDictionary ( DynamicFactorGraphStateKey< GTSAM_DYNAMIC_STATE_TYPE > & returnStateKey,
const std::string & frame1,
const std::string & frame2,
const double timeK,
const gtsam::Pose3 & approximateTransformationBeforeOptimization,
const DynamicVariableType & variableType )
inline

Definition at line 174 of file DynamicTransformDictionary.h.

◆ getFramePairFromGtsamKey()

template<class GTSAM_DYNAMIC_STATE_TYPE>
bool holistic_fusion::DynamicTransformDictionary< GTSAM_DYNAMIC_STATE_TYPE >::getFramePairFromGtsamKey ( std::pair< std::string, std::string > & framePairRef,
const gtsam::Key & gtsamKey ) const
inline

Definition at line 120 of file DynamicTransformDictionary.h.

◆ getInitialGuessForFramePair()

template<class GTSAM_DYNAMIC_STATE_TYPE>
bool holistic_fusion::DynamicTransformDictionary< GTSAM_DYNAMIC_STATE_TYPE >::getInitialGuessForFramePair ( const std::string & frame1,
const std::string & frame2,
GTSAM_DYNAMIC_STATE_TYPE & initialGuessRef ) const
inline

Definition at line 163 of file DynamicTransformDictionary.h.

◆ getKeyframePositionFromGtsamKey()

template<class GTSAM_DYNAMIC_STATE_TYPE>
bool holistic_fusion::DynamicTransformDictionary< GTSAM_DYNAMIC_STATE_TYPE >::getKeyframePositionFromGtsamKey ( Eigen::Vector3d & keyframePositionRef,
const gtsam::Key & gtsamKey ) const
inline

Definition at line 132 of file DynamicTransformDictionary.h.

◆ getTransformationKey()

template<class GTSAM_DYNAMIC_STATE_TYPE>
template<char SYMBOL_CHAR>
DynamicFactorGraphStateKey< GTSAM_DYNAMIC_STATE_TYPE > holistic_fusion::DynamicTransformDictionary< GTSAM_DYNAMIC_STATE_TYPE >::getTransformationKey ( bool & newGraphKeyAdded,
const std::string & frame1,
const std::string & frame2,
const double timeK,
const gtsam::Pose3 & approximateTransformationBeforeOptimization,
const DynamicVariableType & variableType )
inline

Definition at line 150 of file DynamicTransformDictionary.h.

◆ getTransformGtsamKeyToFramePairMap()

template<class GTSAM_DYNAMIC_STATE_TYPE>
const std::map< gtsam::Key, std::pair< std::string, std::string > > & holistic_fusion::DynamicTransformDictionary< GTSAM_DYNAMIC_STATE_TYPE >::getTransformGtsamKeyToFramePairMap ( ) const
inlinenodiscard

Definition at line 144 of file DynamicTransformDictionary.h.

◆ mutex()

template<class GTSAM_DYNAMIC_STATE_TYPE>
std::mutex & holistic_fusion::DynamicTransformDictionary< GTSAM_DYNAMIC_STATE_TYPE >::mutex ( )
inline

Definition at line 253 of file DynamicTransformDictionary.h.

◆ removeInitialGuessForFramePair()

template<class GTSAM_DYNAMIC_STATE_TYPE>
void holistic_fusion::DynamicTransformDictionary< GTSAM_DYNAMIC_STATE_TYPE >::removeInitialGuessForFramePair ( const std::string & frame1,
const std::string & frame2 )
inline

Definition at line 211 of file DynamicTransformDictionary.h.

◆ removeOrDeactivateTransform()

template<class GTSAM_DYNAMIC_STATE_TYPE>
bool holistic_fusion::DynamicTransformDictionary< GTSAM_DYNAMIC_STATE_TYPE >::removeOrDeactivateTransform ( const std::string & frame1,
const std::string & frame2 )
inline

Definition at line 68 of file DynamicTransformDictionary.h.

◆ removeTransform()

template<class GTSAM_DYNAMIC_STATE_TYPE>
bool holistic_fusion::DynamicTransformDictionary< GTSAM_DYNAMIC_STATE_TYPE >::removeTransform ( const std::string & frame1,
const std::string & frame2,
DynamicFactorGraphStateKey< GTSAM_DYNAMIC_STATE_TYPE > & returnRemovedKey )
inlineoverridevirtual

Reimplemented from holistic_fusion::TransformsDictionary< DynamicFactorGraphStateKey< GTSAM_DYNAMIC_STATE_TYPE > >.

Definition at line 45 of file DynamicTransformDictionary.h.

◆ setInitialGuessForFramePair()

template<class GTSAM_DYNAMIC_STATE_TYPE>
void holistic_fusion::DynamicTransformDictionary< GTSAM_DYNAMIC_STATE_TYPE >::setInitialGuessForFramePair ( const std::string & frame1,
const std::string & frame2,
const GTSAM_DYNAMIC_STATE_TYPE & initialGuess )
inline

Definition at line 206 of file DynamicTransformDictionary.h.

Member Data Documentation

◆ externalModifierMutex_

template<class GTSAM_DYNAMIC_STATE_TYPE>
std::mutex holistic_fusion::DynamicTransformDictionary< GTSAM_DYNAMIC_STATE_TYPE >::externalModifierMutex_
private

Definition at line 265 of file DynamicTransformDictionary.h.

◆ internalDictionaryModifierMutex_

template<class GTSAM_DYNAMIC_STATE_TYPE>
std::mutex holistic_fusion::DynamicTransformDictionary< GTSAM_DYNAMIC_STATE_TYPE >::internalDictionaryModifierMutex_
private

Definition at line 264 of file DynamicTransformDictionary.h.

◆ numStoredTransformsPerSymbol_

template<class GTSAM_DYNAMIC_STATE_TYPE>
std::array<unsigned long, sizeof(ADMISSIBLE_DYNAMIC_SYMBOL_CHARS)> holistic_fusion::DynamicTransformDictionary< GTSAM_DYNAMIC_STATE_TYPE >::numStoredTransformsPerSymbol_
private
Initial value:
=
makeValuedArray<unsigned long, sizeof(ADMISSIBLE_DYNAMIC_SYMBOL_CHARS)>(0)
holistic_fusion::makeValuedArray
constexpr auto makeValuedArray(T value) -> std::array< T, N >
Definition AdmissibleGtsamSymbols.h:58

Definition at line 268 of file DynamicTransformDictionary.h.

◆ transformGtsamKeyToFramePairMap_

template<class GTSAM_DYNAMIC_STATE_TYPE>
std::map<gtsam::Key, std::pair<std::string, std::string> > holistic_fusion::DynamicTransformDictionary< GTSAM_DYNAMIC_STATE_TYPE >::transformGtsamKeyToFramePairMap_
private

Definition at line 257 of file DynamicTransformDictionary.h.

◆ transformGtsamKeyToInitialGuessMap_

template<class GTSAM_DYNAMIC_STATE_TYPE>
std::map<std::pair<std::string, std::string>, GTSAM_DYNAMIC_STATE_TYPE> holistic_fusion::DynamicTransformDictionary< GTSAM_DYNAMIC_STATE_TYPE >::transformGtsamKeyToInitialGuessMap_
private

Definition at line 261 of file DynamicTransformDictionary.h.

◆ transformGtsamKeyToKeyframePositionMap_

template<class GTSAM_DYNAMIC_STATE_TYPE>
std::map<gtsam::Key, Eigen::Vector3d> holistic_fusion::DynamicTransformDictionary< GTSAM_DYNAMIC_STATE_TYPE >::transformGtsamKeyToKeyframePositionMap_
private

Definition at line 259 of file DynamicTransformDictionary.h.

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