gtsam_utils.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/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/Values.h>
#include <gtsam/slam/BetweenFactor.h>
#include <cslam_common_interfaces/msg/pose_graph.hpp>
#include <cslam_common_interfaces/msg/pose_graph_edge.hpp>
#include <cslam_common_interfaces/msg/pose_graph_value.hpp>
#include <geometry_msgs/msg/transform.hpp>
#include <nav_msgs/msg/odometry.hpp>

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Namespaces
	cslam

Macros
#define	GRAPH_LABEL   'g'
#define	ROBOT_LABEL(id)   ('A' + id)
#define	ROBOT_ID(ch)   ((unsigned int)(ch - 'A'))

Functions
gtsam::Pose3	cslam::odometry_msg_to_pose3 (const nav_msgs::msg::Odometry &odom_msg)
	Converts odometry message to gtsam::Pose3. More...
gtsam::Pose3	cslam::transform_msg_to_pose3 (const geometry_msgs::msg::Transform &msg)
	Converts a transform msg into a gtsam::Pose3. More...
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::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::shared_ptr factors)
	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::PoseGraphEdge >	cslam::gtsam_factors_to_msg (const gtsam::NonlinearFactorGraph &factors)
	Converts from GTSAM to ROS 2 message. More...
gtsam::Pose3	cslam::pose_msg_to_gtsam (const geometry_msgs::msg::Pose &pose)
	Converts from ROS 2 message to GTSAM. 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...

Macro Definition Documentation

GRAPH_LABEL

#define GRAPH_LABEL   'g'

Definition at line 20 of file gtsam_utils.h.

ROBOT_ID

#define ROBOT_ID

(

ch

)

((unsigned int)(ch - 'A'))

Definition at line 22 of file gtsam_utils.h.

ROBOT_LABEL

#define ROBOT_LABEL

(

id

)

('A' + id)

Definition at line 21 of file gtsam_utils.h.