calico::WorldModel Class Reference

#include <world_model.h>

Public Member Functions
absl::Status	AddLandmark (Landmark *landmark, bool take_ownership=true)
absl::Status	AddRigidBody (RigidBody *rigidbody, bool take_ownership=true)
int	AddParametersToProblem (ceres::Problem &problem)
const absl::flat_hash_map< int, std::unique_ptr< Landmark > > &	landmarks () const
	Accessor for landmarks.
absl::flat_hash_map< int, std::unique_ptr< Landmark > > &	landmarks ()
const absl::flat_hash_map< int, std::unique_ptr< RigidBody > > &	rigidbodies () const
	Accessor for rigid bodies.
absl::flat_hash_map< int, std::unique_ptr< RigidBody > > &	rigidbodies ()
void	EnableGravityEstimation (bool enable)
	Enable flag for gravity estimation.
const Eigen::Vector3d &	gravity () const
	Accessor for gravity vector.
Eigen::Vector3d &	gravity ()
void	SetGravity (const Eigen::Vector3d &gravity)
	Setter for gravity for easy pybind integration.
const Eigen::Vector3d &	GetGravity () const
	Getter for gravity for easy pybind integration.
int	NumberOfLandmarks () const
	Get the number of landmarks currently in this world model.
int	NumberOfRigidBodies () const
	Get the number of rigid bodies currently in this world model.
void	ClearLandmarks ()
	Remove all Landmark objects from the world model.
void	ClearRigidBodies ()
	Remove all RigidBody objects from the world model.
void	Clear ()
	Remove all objects from the world model.

Static Public Attributes
static constexpr double	kGravityDefaultZ = -9.80665

Detailed Description

WorldModel manages all Landmark and RigidBody objects in an optimization problem.

Member Function Documentation

AddLandmark()

absl::Status calico::WorldModel::AddLandmark	(	Landmark *	landmark,
		bool	take_ownership = true
	)

Add a Landmark object to the world model. Returns an InvalidArgument status code if the landmark id is not unique.

AddParametersToProblem()

int calico::WorldModel::AddParametersToProblem

(

ceres::Problem &

problem

)

Add internal parameters to a ceres problem. Any internal parameters set to constant are marked as such in the problem. Returns the total number of parameters added to the problem.

AddRigidBody()

absl::Status calico::WorldModel::AddRigidBody	(	RigidBody *	rigidbody,
		bool	take_ownership = true
	)

Add a RigidBody object to the world model. Returns an InvalidArgument status code if the rigid body id is not unique.

Member Data Documentation

kGravityDefaultZ

constexpr double calico::WorldModel::kGravityDefaultZ = -9.80665

staticconstexpr

Default magnitude of gravity vector. Gravity resolved in the standard inertial frame is defined as \(\mathbf{g}^w=\left[0, 0, -9.80665\right]^T\)

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

• calico/world_model.h
• calico/world_model.cpp