Class LandmarkSamplingWithCostFunctions

Inheritance Relationships

Base Type

Class Documentation

class map_sparsification::sampling::LandmarkSamplingWithCostFunctions : public map_sparsification::SamplerBase

Public Types

typedef map_sparsification::cost_functions::SamplingCostFunction SamplingCostFunction
typedef map_sparsification::scoring::ScoringFunction ScoringFunction
typedef SamplingCostFunction::KeypointPerVertexCountMap KeyframeKeypointCountMap
typedef std::pair<vi_map::LandmarkId, double> StoreLandmarkIdScorePair
typedef std::unordered_map<vi_map::LandmarkId, double> LandmarkScoreMap

Public Functions

void registerScoringFunction(const ScoringFunction::ConstPtr &scoring)
void registerCostFunction(const SamplingCostFunction::ConstPtr &cost)
virtual void sampleMapSegment(const vi_map::VIMap &map, unsigned int desired_num_landmarks, unsigned int time_limit_seconds, const vi_map::LandmarkIdSet &segment_store_landmark_id_set, const pose_graph::VertexIdList &segment_vertex_id_list, vi_map::LandmarkIdSet *summary_store_landmark_ids)
inline virtual std::string getTypeString() const

Public Members

LandmarkSamplingWithCostFunctions