gtsam_utils.cpp File Reference

#include "cslam/back_end/gtsam_utils.h"

Include dependency graph for gtsam_utils.cpp:

Go to the source code of this file.

Namespaces
	cslam

Functions
geometry_msgs::msg::Pose	cslam::gtsam_pose_to_msg (const gtsam::Pose3 &pose)
	Converts from GTSAM to ROS 2 message. More...
geometry_msgs::msg::Transform	cslam::gtsam_pose_to_transform_msg (const gtsam::Pose3 &pose)
	Converts from GTSAM to ROS 2 message. More...
std::vector< cslam_common_interfaces::msg::PoseGraphValue >	cslam::gtsam_values_to_msg (const gtsam::Values &values)
	Converts from GTSAM to ROS 2 message. More...
std::vector< cslam_common_interfaces::msg::PoseGraphValue >	cslam::gtsam_values_to_msg (const gtsam::Values::shared_ptr values)
	Converts from GTSAM to ROS 2 message. More...
std::vector< cslam_common_interfaces::msg::PoseGraphEdge >	cslam::gtsam_factors_to_msg (const gtsam::NonlinearFactorGraph &factors)
	Converts from GTSAM to ROS 2 message. More...
std::vector< cslam_common_interfaces::msg::PoseGraphEdge >	cslam::gtsam_factors_to_msg (const gtsam::NonlinearFactorGraph::shared_ptr factors)
	Converts from GTSAM to ROS 2 message. More...
gtsam::Pose3	cslam::transform_msg_to_pose3 (const geometry_msgs::msg::Transform &msg)
	Converts a transform msg into a gtsam::Pose3. More...
gtsam::Pose3	cslam::pose_msg_to_gtsam (const geometry_msgs::msg::Pose &pose)
	Converts from ROS 2 message to GTSAM. More...
gtsam::Pose3	cslam::odometry_msg_to_pose3 (const nav_msgs::msg::Odometry &odom_msg)
	Converts odometry message to gtsam::Pose3. More...
gtsam::Values::shared_ptr	cslam::values_msg_to_gtsam (const std::vector< cslam_common_interfaces::msg::PoseGraphValue > &values)
	Converts from ROS 2 message to GTSAM. More...
gtsam::NonlinearFactorGraph::shared_ptr	cslam::edges_msg_to_gtsam (const std::vector< cslam_common_interfaces::msg::PoseGraphEdge > &edges)
	Converts from ROS 2 message to GTSAM. More...