isam2Node.cpp

inline void SLAMValidation::run_slam()

Takes the observed cones from the current time step and the car pose (calculated from a motion model based on the odometry data) and updates the iSAM2 model by calling step (see isam2.cpp)

inline void SLAMValidation::cone_callback(const eufs_msgs::msg::ConeArrayWithCovariance::SharedPtr cone_data)

cone_callback is the function called when a message is received by the subscriber, cone_sub. Based on whether orange cones were observed, cone_callback will determine whether loop closure has occurred.

Parameters:

cone_data – The message received by cone_sub. This message will be parsed into arrays of blue, yello, and orange cones.

inline void SLAMValidation::vehicle_state_callback(const eufs_msgs::msg::CarState::SharedPtr pose_data)

vehicle_state_callback is the function called when the vehicle_state_sub receives a message for the pose data of the car. The motion and odometry data parsed by this function will be used to calculate the global position of the cones as well as the global pose of the car

Parameters:

pose_data – Message received by vehicle_state_sub containing motion information such as velocity and the orientation of the car in quaternion form