GMapping::ScanMatcherProcessor Class Reference

Public Member Functions
const ScanMatcherMap &	getMap () const
OrientedPoint	getPose () const
void	init ()
ScanMatcher &	matcher ()
virtual void	processScan (const RangeReading &reading)
	ScanMatcherProcessor (double xmin, double ymin, double xmax, double ymax, double delta, double patchdelta)
	ScanMatcherProcessor (const ScanMatcherMap &m)
void	setMatchingParameters (double urange, double range, double sigma, int kernsize, double lopt, double aopt, int iterations, bool computeCovariance=false)
void	setmaxMove (double mmove)
void	setRegistrationParameters (double regScore, double critScore)
void	setSensorMap (const SensorMap &smap, std::string sensorName="FLASER")
virtual	~ScanMatcherProcessor ()
Public Attributes
bool	useICP
Protected Attributes
unsigned int	m_beams
bool	m_computeCovariance
int	m_count
double	m_critScore
bool	m_first
ScanMatcherMap	m_map
ScanMatcher	m_matcher
double	m_maxMove
OrientedPoint	m_odoPose
OrientedPoint	m_pose
double	m_regScore
SensorMap	m_sensorMap

Detailed Description

Definition at line 11 of file scanmatcherprocessor.h.

GMapping::ScanMatcherProcessor::ScanMatcherProcessor ( const ScanMatcherMap & m )

GMapping::ScanMatcherProcessor::ScanMatcherProcessor	(	double	xmin,
		double	ymin,
		double	xmax,
		double	ymax,
		double	delta,
		double	patchdelta
	)

virtual GMapping::ScanMatcherProcessor::~ScanMatcherProcessor ( ) [virtual]

const ScanMatcherMap& GMapping::ScanMatcherProcessor::getMap ( ) const [inline]

Definition at line 21 of file scanmatcherprocessor.h.

OrientedPoint GMapping::ScanMatcherProcessor::getPose ( ) const

void GMapping::ScanMatcherProcessor::init ( )

ScanMatcher& GMapping::ScanMatcherProcessor::matcher ( ) [inline]

Definition at line 22 of file scanmatcherprocessor.h.

virtual void GMapping::ScanMatcherProcessor::processScan ( const RangeReading & reading ) [virtual]

void GMapping::ScanMatcherProcessor::setMatchingParameters	(	double	urange,
		double	range,
		double	sigma,
		int	kernsize,
		double	lopt,
		double	aopt,
		int	iterations,
		bool	computeCovariance = `false`
	)