g2o
Functions | Variables
/home/xuezhisd/CLionProjects/g2o/g2o/examples/interactive_slam/g2o_interactive/protocol.txt File Reference

Functions

Protocol The SLAM executable accepts such as adding (ADD) a const raint
 
Protocol The SLAM executable accepts such as solving the system (SOLVE)
 
Protocol The SLAM executable accepts such as solving the and retrieving estimates (QUERY).The executable responds to a query by returning the data enclosed in a BEGIN...END block.Variables
 
The FIX command will cause a variable to be treated as a but can safely be ignored for now as it will always apply to the first pose SOLVE_STATE is provided as guidance the SLAM algorithm can make its own decision on when to solve QUERY_STATE without arguments expects all variables to be returned ADD VERTEX is provided as declaration of the variable and can optionally include an initialization (not used for now).The automated evaluation system is expected to eventually include additional features such as evaluation of covariances.The SLAM executable responds to"QUERY_STATE"by providing a list of all requested vertices
 

Variables

Protocol The SLAM executable accepts actions
 
Protocol The SLAM executable accepts such as solving the and retrieving or vertices in the graph
 
Protocol The SLAM executable accepts such as solving the and retrieving or vertices in the explicitly state the reprensentation poses are represented by VERTEX_XYT
 
Protocol The SLAM executable accepts such as solving the and retrieving or vertices in the explicitly state the reprensentation poses are represented by poses by VERTEX_XYZRPY In the future
 
Protocol The SLAM executable accepts such as solving the and retrieving or vertices in the explicitly state the reprensentation poses are represented by poses by VERTEX_XYZRPY In the Quaternions and other representations could be supported
 
Protocol The SLAM executable accepts such as solving the and retrieving or vertices in the explicitly state the reprensentation poses are represented by poses by VERTEX_XYZRPY In the Quaternions and other representations could be but note that it is up to the SLAM algorithm to choose the internal representation of the angles The keyword is followed by a unique vertex ID and an optional initialization of the values
 
Protocol The SLAM executable accepts such as solving the and retrieving or vertices in the explicitly state the reprensentation poses are represented by poses by VERTEX_XYZRPY In the Quaternions and other representations could be but note that it is up to the SLAM algorithm to choose the internal representation of the angles The keyword is followed by a unique vertex ID and an optional initialization of the or edges in the explicitly state the type of the constraint pose constraints are given by EDGE_XYT
 
Protocol The SLAM executable accepts such as solving the and retrieving or vertices in the explicitly state the reprensentation poses are represented by poses by VERTEX_XYZRPY In the Quaternions and other representations could be but note that it is up to the SLAM algorithm to choose the internal representation of the angles The keyword is followed by a unique vertex ID and an optional initialization of the or edges in the explicitly state the type of the constraint pose constraints are given by pose constraints by EDGE_XYZRPY The keyword is followed by a unique edge ID
 
Protocol The SLAM executable accepts such as solving the and retrieving or vertices in the explicitly state the reprensentation poses are represented by poses by VERTEX_XYZRPY In the Quaternions and other representations could be but note that it is up to the SLAM algorithm to choose the internal representation of the angles The keyword is followed by a unique vertex ID and an optional initialization of the or edges in the explicitly state the type of the constraint pose constraints are given by pose constraints by EDGE_XYZRPY The keyword is followed by a unique edge the IDs of the referenced vertices
 
 FIX
 
 SOLVE_STATE
 
 QUERY_STATE
 
Simple example
 
ADD VERTEX_XYZRPY
 
ADD EDGE_XYZRPY
 
The FIX command will cause a variable to be treated as a constant
 

Function Documentation

Protocol The SLAM executable accepts such as adding ( ADD  ) const
Protocol The SLAM executable accepts such as solving the and retrieving estimates ( QUERY  )
The FIX command will cause a variable to be treated as a but can safely be ignored for now as it will always apply to the first pose SOLVE_STATE is provided as guidance the SLAM algorithm can make its own decision on when to solve QUERY_STATE without arguments expects all variables to be returned ADD VERTEX is provided as declaration of the variable and can optionally include an initialization ( not used for  now)
Protocol The SLAM executable accepts such as solving the system ( SOLVE  )

Variable Documentation

Protocol The SLAM executable accepts actions

Definition at line 3 of file protocol.txt.

The FIX command will cause a variable to be treated as a constant

Definition at line 45 of file protocol.txt.

ADD EDGE_XYT

Definition at line 7 of file protocol.txt.

ADD EDGE_XYZRPY

Definition at line 40 of file protocol.txt.

Simple example

Definition at line 38 of file protocol.txt.

FIX

Definition at line 28 of file protocol.txt.

Protocol The SLAM executable accepts such as solving the and retrieving or vertices in the explicitly state the reprensentation poses are represented by poses by VERTEX_XYZRPY In the future

Definition at line 7 of file protocol.txt.

Protocol The SLAM executable accepts such as solving the and retrieving or vertices in the explicitly state the reprensentation poses are represented by poses by VERTEX_XYZRPY In the Quaternions and other representations could be but note that it is up to the SLAM algorithm to choose the internal representation of the angles The keyword is followed by a unique vertex ID and an optional initialization of the or edges in the graph

Definition at line 7 of file protocol.txt.

The FIX command will cause a variable to be treated as a but can safely be ignored for now as it will always apply to the first pose SOLVE_STATE is provided as guidance the SLAM algorithm can make its own decision on when to solve QUERY_STATE without arguments expects all variables to be returned ADD VERTEX is provided as declaration of the variable and can optionally include an ordered by the vertex ID

Definition at line 7 of file protocol.txt.

QUERY_STATE

Definition at line 30 of file protocol.txt.

SOLVE_STATE

Definition at line 29 of file protocol.txt.

Protocol The SLAM executable accepts such as solving the and retrieving or vertices in the explicitly state the reprensentation poses are represented by poses by VERTEX_XYZRPY In the Quaternions and other representations could be supported

Definition at line 7 of file protocol.txt.

Protocol The SLAM executable accepts such as solving the and retrieving or vertices in the explicitly state the reprensentation poses are represented by poses by VERTEX_XYZRPY In the Quaternions and other representations could be but note that it is up to the SLAM algorithm to choose the internal representation of the angles The keyword is followed by a unique vertex ID and an optional initialization of the values

Definition at line 7 of file protocol.txt.

ADD VERTEX_XYT

Definition at line 7 of file protocol.txt.

ADD VERTEX_XYZRPY

Definition at line 39 of file protocol.txt.

Protocol The SLAM executable accepts such as solving the and retrieving or vertices in the explicitly state the reprensentation poses are represented by poses by VERTEX_XYZRPY In the Quaternions and other representations could be but note that it is up to the SLAM algorithm to choose the internal representation of the angles The keyword is followed by a unique vertex ID and an optional initialization of the or edges in the explicitly state the type of the constraint pose constraints are given by pose constraints by EDGE_XYZRPY The keyword is followed by a unique edge the IDs of the referenced vertices

Definition at line 7 of file protocol.txt.