cartographer源码分析(54)-mapping- trajectory_builder.h

最新推荐文章于 2022-12-08 15:43:49 发布

原创

最新推荐文章于 2022-12-08 15:43:49 发布 · 1.6k 阅读

2 ·

CC 4.0 BY-SA版权

本文详细分析了Cartographer中mapping模块的trajectory_builder.h源码，探讨了其在SLAM（同时定位与建图）过程中的关键作用，包括轨迹构建的实现细节和重要算法。

markdown文件可在https://github.com/learnmoreonce/SLAM 下载


文件: trajectory_builder.h


#ifndef CARTOGRAPHER_MAPPING_TRAJECTORY_BUILDER_H_
#define CARTOGRAPHER_MAPPING_TRAJECTORY_BUILDER_H_

#include <functional>
#include <memory>
#include <string>

#include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer/common/make_unique.h"
#include "cartographer/common/port.h"
#include "cartographer/common/time.h"
#include "cartographer/mapping/proto/trajectory_builder_options.pb.h"
#include "cartographer/mapping/submaps.h"
#include "cartographer/sensor/data.h"
#include