Package Summary

Tags No category tags.
Version 1.0.0
License Apache License, Version 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/nasa/astrobee.git
VCS Type git
VCS Version master
Last Updated 2024-07-03
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The nodes package

Additional Links

No additional links.

Maintainers

  • Astrobee Flight Software

Authors

  • Astrobee Flight Software

\page nodes Nodes

Package Overview

The nodes package provides classes for adding nodes to a graph for optimization. Nodes are equivalent to state parameters that should always be added/removed/updated at the same time. For example, when performing visual-intertial odometry, a single node may contain pose, velocity and IMU bias values. For a simple localization graph, a single node may contain just a pose. For timestamped nodes containing a single type (such as just a pose), use the TimestampedNodes class. For timestamped nodes containing multiple types (such as the pose, velocity bias node), use the TimestampedCombinedNodes class and override the AddNode and GetNode methods.

Values

Wrapper around GTSAM values class that enables adding and removing values given their key.

TimestampedNodes

Class that enables adding and removing simple nodes containing a single type given their timestamp.

TimestampedCombinedNodes

Class that enables adding and removing combined nodes containing multiple types given their timestamp. The AddNode and GetNode functions must be overridden, where the AddNode method should yield a new key vector containing a key for each type in the node, and the GetNode method should generate a combined type given a key vector. Note the ordering of the keys in the key vector generated by AddNode and provided by GetNode must match. See CombinedNavStateNodes for an example.

CombinedNavStateNodes

TimestampedCombinedNodes for a combined nav state that contains a pose, velocity, and IMU bias.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged nodes at Robotics Stack Exchange

Package Summary

Tags No category tags.
Version 1.0.0
License Apache License, Version 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/nasa/astrobee.git
VCS Type git
VCS Version master
Last Updated 2024-07-03
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The nodes package

Additional Links

No additional links.

Maintainers

  • Astrobee Flight Software

Authors

  • Astrobee Flight Software

\page nodes Nodes

Package Overview

The nodes package provides classes for adding nodes to a graph for optimization. Nodes are equivalent to state parameters that should always be added/removed/updated at the same time. For example, when performing visual-intertial odometry, a single node may contain pose, velocity and IMU bias values. For a simple localization graph, a single node may contain just a pose. For timestamped nodes containing a single type (such as just a pose), use the TimestampedNodes class. For timestamped nodes containing multiple types (such as the pose, velocity bias node), use the TimestampedCombinedNodes class and override the AddNode and GetNode methods.

Values

Wrapper around GTSAM values class that enables adding and removing values given their key.

TimestampedNodes

Class that enables adding and removing simple nodes containing a single type given their timestamp.

TimestampedCombinedNodes

Class that enables adding and removing combined nodes containing multiple types given their timestamp. The AddNode and GetNode functions must be overridden, where the AddNode method should yield a new key vector containing a key for each type in the node, and the GetNode method should generate a combined type given a key vector. Note the ordering of the keys in the key vector generated by AddNode and provided by GetNode must match. See CombinedNavStateNodes for an example.

CombinedNavStateNodes

TimestampedCombinedNodes for a combined nav state that contains a pose, velocity, and IMU bias.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged nodes at Robotics Stack Exchange