karto::MapperGraph Class Reference

#include <Mapper.h>

Inheritance diagram for karto::MapperGraph:

[legend]

List of all members.

Public Member Functions
Edge< LocalizedRangeScan > *	AddEdge (LocalizedRangeScan *pSourceScan, LocalizedRangeScan *pTargetScan, kt_bool &rIsNewEdge)
void	AddEdges (LocalizedRangeScan *pScan, const Matrix3 &rCovariance)
void	AddVertex (LocalizedRangeScan *pScan)
LocalizedRangeScanVector	FindNearLinkedScans (LocalizedRangeScan *pScan, kt_double maxDistance)
ScanMatcher *	GetLoopScanMatcher () const
	MapperGraph (Mapper *pMapper, kt_double rangeThreshold)
kt_bool	TryCloseLoop (LocalizedRangeScan *pScan, const Name &rSensorName)
virtual	~MapperGraph ()
Private Member Functions
Pose2	ComputeWeightedMean (const Pose2Vector &rMeans, const std::vector< Matrix3 > &rCovariances) const
void	CorrectPoses ()
std::vector < LocalizedRangeScanVector >	FindNearChains (LocalizedRangeScan *pScan)
LocalizedRangeScanVector	FindPossibleLoopClosure (LocalizedRangeScan *pScan, const Name &rSensorName, kt_int32u &rStartNum)
LocalizedRangeScan *	GetClosestScanToPose (const LocalizedRangeScanVector &rScans, const Pose2 &rPose) const
Vertex< LocalizedRangeScan > *	GetVertex (LocalizedRangeScan *pScan)
void	LinkChainToScan (const LocalizedRangeScanVector &rChain, LocalizedRangeScan *pScan, const Pose2 &rMean, const Matrix3 &rCovariance)
void	LinkNearChains (LocalizedRangeScan *pScan, Pose2Vector &rMeans, std::vector< Matrix3 > &rCovariances)
void	LinkScans (LocalizedRangeScan *pFromScan, LocalizedRangeScan *pToScan, const Pose2 &rMean, const Matrix3 &rCovariance)
Private Attributes
ScanMatcher *	m_pLoopScanMatcher
Mapper *	m_pMapper

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Detailed Description

Definition at line 491 of file Mapper.h.

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Constructor & Destructor Documentation

karto::MapperGraph::MapperGraph	(	Mapper *	pMapper,
		kt_double	rangeThreshold
	)

Graph for graph SLAM

Parameters:

	pMapper
	rParameters
	pSensorManager

Definition at line 1094 of file Mapper.cpp.

karto::MapperGraph::~MapperGraph

(

)

[virtual]

Destructor

Definition at line 1103 of file Mapper.cpp.

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Member Function Documentation

Edge< LocalizedRangeScan > * karto::MapperGraph::AddEdge	(	LocalizedRangeScan *	pSourceScan,
		LocalizedRangeScan *	pTargetScan,
		kt_bool &	rIsNewEdge
	)

Creates an edge between the source scan vertex and the target scan vertex if it does not already exist; otherwise return the existing edge

Parameters:

	pSourceScan
	pTargetScan
	rIsNewEdge	set to true if the edge is new

Returns:

edge between source and target scan vertices

Definition at line 1271 of file Mapper.cpp.

void karto::MapperGraph::AddEdges	(	LocalizedRangeScan *	pScan,
		const Matrix3 &	rCovariance
	)

Link scan to last scan and nearby chains of scans

Parameters:

	pScan
	rCovariance	uncertainty of match

Definition at line 1127 of file Mapper.cpp.

void karto::MapperGraph::AddVertex

(

LocalizedRangeScan *

pScan

)

Adds a vertex representing the given scan to the graph

Parameters:

pScan

Definition at line 1112 of file Mapper.cpp.

Pose2 karto::MapperGraph::ComputeWeightedMean	(	const Pose2Vector &	rMeans,
		const std::vector< Matrix3 > &	rCovariances
	)			const [private]

Compute mean of poses weighted by covariances

Parameters:

	rMeans
	rCovariances

Returns:

weighted mean

Definition at line 1458 of file Mapper.cpp.

void karto::MapperGraph::CorrectPoses

(

)

[private]

Optimizes scan poses

Definition at line 1549 of file Mapper.cpp.

std::vector< LocalizedRangeScanVector > karto::MapperGraph::FindNearChains

(

LocalizedRangeScan *

pScan

)

[private]

Find chains of scans that are close to given scan

Parameters:

pScan

Returns:

chains of scans

Definition at line 1353 of file Mapper.cpp.

LocalizedRangeScanVector karto::MapperGraph::FindNearLinkedScans	(	LocalizedRangeScan *	pScan,
		kt_double	maxDistance
	)

Find "nearby" (no further than given distance away) scans through graph links

Parameters:

	pScan
	maxDistance

Definition at line 1449 of file Mapper.cpp.

LocalizedRangeScanVector karto::MapperGraph::FindPossibleLoopClosure	(	LocalizedRangeScan *	pScan,
		const Name &	rSensorName,
		kt_int32u &	rStartNum
	)			[private]

Tries to find a chain of scan from the given device starting at the given scan index that could possibly close a loop with the given scan

Parameters:

	pScan
	rSensorName
	rStartNum

Returns:

chain that can possibly close a loop with given scan

Definition at line 1502 of file Mapper.cpp.

LocalizedRangeScan * karto::MapperGraph::GetClosestScanToPose	(	const LocalizedRangeScanVector &	rScans,
		const Pose2 &	rPose
	)			const [private]

Finds the closest scan in the vector to the given pose

Parameters:

	rScans
	rPose

Definition at line 1251 of file Mapper.cpp.

ScanMatcher* karto::MapperGraph::GetLoopScanMatcher

(

)

const [inline]

Gets the graph's scan matcher

Returns:

scan matcher

Definition at line 549 of file Mapper.h.

Vertex<LocalizedRangeScan>* karto::MapperGraph::GetVertex

(

LocalizedRangeScan *

pScan

)

[inline, private]

Gets the vertex associated with the given scan

Parameters:

pScan

Returns:

vertex of scan

Definition at line 560 of file Mapper.h.

void karto::MapperGraph::LinkChainToScan	(	const LocalizedRangeScanVector &	rChain,
		LocalizedRangeScan *	pScan,
		const Pose2 &	rMean,
		const Matrix3 &	rCovariance
	)			[private]

Link the chain of scans to the given scan by finding the closest scan in the chain to the given scan

Parameters:

	rChain
	pScan
	rMean
	rCovariance

Definition at line 1337 of file Mapper.cpp.

void karto::MapperGraph::LinkNearChains	(	LocalizedRangeScan *	pScan,
		Pose2Vector &	rMeans,
		std::vector< Matrix3 > &	rCovariances
	)			[private]

Find nearby chains of scans and link them to scan if response is high enough

Parameters:

	pScan
	rMeans
	rCovariances

Definition at line 1314 of file Mapper.cpp.

void karto::MapperGraph::LinkScans	(	LocalizedRangeScan *	pFromScan,
		LocalizedRangeScan *	pToScan,
		const Pose2 &	rMean,
		const Matrix3 &	rCovariance
	)			[private]

Adds an edge between the two scans and labels the edge with the given mean and covariance

Parameters:

	pFromScan
	pToScan
	rMean
	rCovariance

Definition at line 1298 of file Mapper.cpp.

kt_bool karto::MapperGraph::TryCloseLoop	(	LocalizedRangeScan *	pScan,
		const Name &	rSensorName
	)

Tries to close a loop using the given scan with the scans from the given device

Parameters:

	pScan
	rSensorName

Definition at line 1191 of file Mapper.cpp.

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Member Data Documentation

ScanMatcher* karto::MapperGraph::m_pLoopScanMatcher [private]

Definition at line 631 of file Mapper.h.

Mapper* karto::MapperGraph::m_pMapper [private]

Definition at line 629 of file Mapper.h.

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The documentation for this class was generated from the following files:

• Mapper.h
• Mapper.cpp