Class Diagram

2016-12-01 21:44:07   0  举报

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类图是一种在软件工程中使用的图形表示法，用于描述系统中的类以及它们之间的关系。它展示了系统中各个类的结构和属性，并显示了这些类之间的交互和依赖关系。类图通常包括三个主要元素：类、关联和继承。类是具有相同属性和行为的对象的描述，关联表示不同类之间的连接，而继承则表示一个类可以从另一个类继承属性和方法。通过类图，开发人员可以更好地理解系统的组成部分，并在设计和实现阶段进行更精确的规划。

作者其他创作

大纲/内容

Node

- SpinForever()- Initialize()- HandleSensorData()- AddOdometry()- AddImu()- AddHorizontalLaserFan()- LookupToTrackingTransformOrThrow()- HandleSubmapQuery()- HandleFinishTrajectory()- PublishSubmapList()- PublishPoseAndScanMatchedPointCloud()- SpinOccupancyGridThreadForever()

- options_- mutex_- constant_data_- map_builder_- sensor_collator_- sensor_data_producer_

GlobalTrajectoryBuilder

- Submaps* submaps() - pose_tracker()- pose_estimate()- AddHorizontalLaserFan()- AddImuData()- AddOdometerPose()

- options_- sparse_pose_graph_- local_trajectory_builder_

LocalTrajectoryBuilder

- struct InsertionResult- const proto::LocalTrajectoryBuilderOptions options_;- Submaps submaps_;- mapping::GlobalTrajectoryBuilderInterface::PoseEstimate last_pose_estimate_; // Pose of the last computed scan match. - transform::Rigid3d scan_matcher_pose_estimate_; - mapping_3d::MotionFilter motion_filter_; - scan_matching::RealTimeCorrelativeScanMatcher real_time_correlative_scan_matcher_; - scan_matching::CeresScanMatcher ceres_scan_matcher_; - std::unique_ptr pose_tracker_;

SparsePoseGraph

- struct Constraint2D ;- struct Constraint3D;

- virtual void RunFinalOptimization() = 0;- virtual bool HasNewOptimizedPoses() = 0;- virtual proto::ScanMatchingProgress GetScanMatchingProgress() = 0;- virtual std::vectorstd::vector GetConnectedTrajectories() = 0;- virtual std::vector GetSubmapTransforms(const Submaps& submaps) = 0;- virtual transform::Rigid3d GetLocalToGlobalTransform( const mapping::Submaps& submaps) = 0;- virtual std::vector GetTrajectoryNodes() = 0;- virtual std::vector constraints_2d() = 0;- virtual std::vector constraints_3d() = 0;

ProbabilityGrid

MapLimits limits_; std::vector cells_; std::vector update_indices_; int max_x_; int max_y_; int min_x_; int min_y_;

- const MapLimits& limits()- void StartUpdate()- void SetProbability()- bool ApplyLookupTable()- float GetProbability()- bool IsKnown()- void ComputeCroppedLimits- void GrowLimits- int GetIndexOfCell()- void UpdateBounds()

Submaps

- kUnknownLogOdds

- matching_index() - insertion_indices() - Get(int index)- size()- SubmapToProto()- AddProbabilityGridToResponse()

SensorCollator

- AddTrajectory()- FinishTrajectory()- AddSensorData()- Flush()- num_available_packets()

- struct Value { int64 timestamp; std::unique_ptr sensor_data; };- queue_- queue_keys_- sensor_packet_period_histogram_builder_

MapBuilder

- AddTrajectoryBuilder()- GetTrajectoryBuilder()- GetTrajectoryId()- GetTrajectoryConnectivity()- sparse_pose_graph()- num_trajectory_builders()

- options_- thread_pool_- sparse_pose_graph_2d_- sparse_pose_graph_- trajectory_builders_- trajectory_ids_