decentralized_pgo.h File Reference

#include <rclcpp/rclcpp.hpp>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/inference/Key.h>
#include <gtsam/inference/LabeledSymbol.h>
#include <gtsam/linear/NoiseModel.h>
#include <gtsam/nonlinear/GncOptimizer.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/slam/BetweenFactor.h>
#include <cslam_common_interfaces/msg/keyframe_odom.hpp>
#include <cslam_common_interfaces/msg/optimization_result.hpp>
#include <cslam_common_interfaces/msg/optimizer_state.hpp>
#include <cslam_common_interfaces/msg/reference_frames.hpp>
#include <cslam_common_interfaces/msg/robot_ids_and_origin.hpp>
#include <cslam_common_interfaces/msg/inter_robot_loop_closure.hpp>
#include <cslam_common_interfaces/msg/intra_robot_loop_closure.hpp>
#include <geometry_msgs/msg/transform_stamped.hpp>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <std_msgs/msg/string.hpp>
#include <std_msgs/msg/u_int32.hpp>
#include <tf2_ros/transform_broadcaster.h>
#include <chrono>
#include <future>
#include <gtsam/slam/dataset.h>
#include <list>
#include <thread>
#include "cslam/back_end/gtsam_utils.h"
#include "cslam/back_end/utils/logger.h"
#include "cslam/back_end/utils/simulated_rendezvous.h"

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Classes
class	cslam::DecentralizedPGO

Namespaces
	cslam

Enumerations
enum	cslam::OptimizerState {   cslam::IDLE , cslam::WAITING_FOR_NEIGHBORS_INFO , cslam::POSEGRAPH_COLLECTION , cslam::WAITING_FOR_NEIGHBORS_POSEGRAPHS ,   cslam::START_OPTIMIZATION , cslam::OPTIMIZATION }
	State of the Pose Graph Optimization node. More...