#include <scanmatcher.h>
Public Types | |
typedef Covariance3 | CovarianceMatrix |
Public Member Functions | |
void | computeActiveArea (ScanMatcherMap &map, const OrientedPoint &p, const double *readings) |
double | icpOptimize (OrientedPoint &pnew, const ScanMatcherMap &map, const OrientedPoint &p, const double *readings) const |
double | icpStep (OrientedPoint &pret, const ScanMatcherMap &map, const OrientedPoint &p, const double *readings) const |
void | invalidateActiveArea () |
const double * | laserAngles () const |
unsigned int | laserBeams () const |
double | likelihood (double &_lmax, OrientedPoint &_mean, CovarianceMatrix &_cov, const ScanMatcherMap &map, const OrientedPoint &p, Gaussian3 &odometry, const double *readings, double gain=180.) |
double | likelihood (double &lmax, OrientedPoint &mean, CovarianceMatrix &cov, const ScanMatcherMap &map, const OrientedPoint &p, const double *readings) |
unsigned int | likelihoodAndScore (double &s, double &l, const ScanMatcherMap &map, const OrientedPoint &p, const double *readings) const |
double | optimize (OrientedPoint &mean, CovarianceMatrix &cov, const ScanMatcherMap &map, const OrientedPoint &p, const double *readings) const |
double | optimize (OrientedPoint &pnew, const ScanMatcherMap &map, const OrientedPoint &p, const double *readings) const |
double | registerScan (ScanMatcherMap &map, const OrientedPoint &p, const double *readings) |
ScanMatcher () | |
double | score (const ScanMatcherMap &map, const OrientedPoint &p, const double *readings) const |
void | setLaserParameters (unsigned int beams, double *angles, const OrientedPoint &lpose) |
void | setMatchingParameters (double urange, double range, double sigma, int kernsize, double lopt, double aopt, int iterations, double likelihoodSigma=1, unsigned int likelihoodSkip=0) |
~ScanMatcher () | |
Static Public Attributes | |
static const double | nullLikelihood |
Protected Attributes | |
bool | m_activeAreaComputed |
double | m_laserAngles [LASER_MAXBEAMS] |
unsigned int | m_laserBeams |
IntPoint * | m_linePoints |
Definition at line 14 of file scanmatcher.h.
Definition at line 16 of file scanmatcher.h.
GMapping::ScanMatcher::ScanMatcher | ( | ) |
GMapping::ScanMatcher::~ScanMatcher | ( | ) |
void GMapping::ScanMatcher::computeActiveArea | ( | ScanMatcherMap & | map, | |
const OrientedPoint & | p, | |||
const double * | readings | |||
) |
double GMapping::ScanMatcher::icpOptimize | ( | OrientedPoint & | pnew, | |
const ScanMatcherMap & | map, | |||
const OrientedPoint & | p, | |||
const double * | readings | |||
) | const |
double GMapping::ScanMatcher::icpStep | ( | OrientedPoint & | pret, | |
const ScanMatcherMap & | map, | |||
const OrientedPoint & | p, | |||
const double * | readings | |||
) | const [inline] |
Definition at line 77 of file scanmatcher.h.
void GMapping::ScanMatcher::invalidateActiveArea | ( | ) |
const double* GMapping::ScanMatcher::laserAngles | ( | ) | const [inline] |
Definition at line 37 of file scanmatcher.h.
unsigned int GMapping::ScanMatcher::laserBeams | ( | ) | const [inline] |
Definition at line 38 of file scanmatcher.h.
double GMapping::ScanMatcher::likelihood | ( | double & | _lmax, | |
OrientedPoint & | _mean, | |||
CovarianceMatrix & | _cov, | |||
const ScanMatcherMap & | map, | |||
const OrientedPoint & | p, | |||
Gaussian3 & | odometry, | |||
const double * | readings, | |||
double | gain = 180. | |||
) |
double GMapping::ScanMatcher::likelihood | ( | double & | lmax, | |
OrientedPoint & | mean, | |||
CovarianceMatrix & | cov, | |||
const ScanMatcherMap & | map, | |||
const OrientedPoint & | p, | |||
const double * | readings | |||
) |
unsigned int GMapping::ScanMatcher::likelihoodAndScore | ( | double & | s, | |
double & | l, | |||
const ScanMatcherMap & | map, | |||
const OrientedPoint & | p, | |||
const double * | readings | |||
) | const [inline] |
Definition at line 191 of file scanmatcher.h.
double GMapping::ScanMatcher::optimize | ( | OrientedPoint & | mean, | |
CovarianceMatrix & | cov, | |||
const ScanMatcherMap & | map, | |||
const OrientedPoint & | p, | |||
const double * | readings | |||
) | const |
double GMapping::ScanMatcher::optimize | ( | OrientedPoint & | pnew, | |
const ScanMatcherMap & | map, | |||
const OrientedPoint & | p, | |||
const double * | readings | |||
) | const |
double GMapping::ScanMatcher::registerScan | ( | ScanMatcherMap & | map, | |
const OrientedPoint & | p, | |||
const double * | readings | |||
) |
double GMapping::ScanMatcher::score | ( | const ScanMatcherMap & | map, | |
const OrientedPoint & | p, | |||
const double * | readings | |||
) | const [inline] |
Definition at line 143 of file scanmatcher.h.
void GMapping::ScanMatcher::setLaserParameters | ( | unsigned int | beams, | |
double * | angles, | |||
const OrientedPoint & | lpose | |||
) |
void GMapping::ScanMatcher::setMatchingParameters | ( | double | urange, | |
double | range, | |||
double | sigma, | |||
int | kernsize, | |||
double | lopt, | |||
double | aopt, | |||
int | iterations, | |||
double | likelihoodSigma = 1 , |
|||
unsigned int | likelihoodSkip = 0 | |||
) |
bool GMapping::ScanMatcher::m_activeAreaComputed [protected] |
Definition at line 43 of file scanmatcher.h.
double GMapping::ScanMatcher::m_laserAngles[LASER_MAXBEAMS] [protected] |
Definition at line 47 of file scanmatcher.h.
unsigned int GMapping::ScanMatcher::m_laserBeams [protected] |
laser parameters
Definition at line 46 of file scanmatcher.h.
IntPoint* GMapping::ScanMatcher::m_linePoints [protected] |
scan_matcher parameters
Definition at line 74 of file scanmatcher.h.
const double GMapping::ScanMatcher::nullLikelihood [static] |
Definition at line 40 of file scanmatcher.h.