karto_scan_matcher Namespace Reference

Classes
class	KartoScanMatcher
	Wraps the Karto Scan matcher. More...
class	ScanMatcherTest
struct	ScanMatchResult
	Result of scan matching. More...
struct	ScanWithPose
	Represents a 2d scan at some pose. More...
Typedefs
typedef std::vector< double >	DoubleVector
typedef boost::mutex::scoped_lock	Lock
typedef boost::circular_buffer < ScanWithPose >	ScanBuffer
typedef boost::shared_ptr < karto::LocalizedRangeScan >	ScanPtr
Functions
karto::LocalizedRangeScan *	convertLaserScan (karto::LaserRangeFinder *laser, const ScanWithPose &scan)
karto::LocalizedRangeScan *	convertLaserScan (karto::LaserRangeFinder *laser, const sm::LaserScan &scan, const gm::Pose2D &pose)
template<class T >
T	getPrivateParam (const string &name, const T &default_value)
gm::Pose2D	subtractLaserOffset (const karto::Pose2 &pose, const karto::Pose2 &offset)
ScanPtr	wrapBareScanPtr (karto::LocalizedRangeScan *scan)
Variables
const double	DEFAULT_RANGE_THRESHOLD = 12.0
const double	DEFAULT_SMEAR_DEVIATION = 0.03
	Some parameters of the scan matching.
static unsigned	name_suffix
static boost::mutex	static_name_mutex

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Typedef Documentation

typedef std::vector<double> karto_scan_matcher::DoubleVector

Definition at line 96 of file karto_scan_matcher.h.

typedef boost::mutex::scoped_lock karto_scan_matcher::Lock

Definition at line 29 of file test_scan_matcher.cpp.

typedef boost::circular_buffer<ScanWithPose> karto_scan_matcher::ScanBuffer

Definition at line 28 of file test_scan_matcher.cpp.

typedef boost::shared_ptr<karto::LocalizedRangeScan> karto_scan_matcher::ScanPtr

Definition at line 173 of file karto_scan_matcher.cpp.

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Function Documentation

karto::LocalizedRangeScan* karto_scan_matcher::convertLaserScan	(	karto::LaserRangeFinder *	laser,
		const ScanWithPose &	scan
	)

Definition at line 42 of file karto_scan_matcher.cpp.

karto::LocalizedRangeScan* karto_scan_matcher::convertLaserScan	(	karto::LaserRangeFinder *	laser,
		const sm::LaserScan &	scan,
		const gm::Pose2D &	pose
	)

Definition at line 29 of file karto_scan_matcher.cpp.

template<class T >

T karto_scan_matcher::getPrivateParam	(	const string &	name,
		const T &	default_value
	)			[inline]

Definition at line 84 of file test_scan_matcher.cpp.

gm::Pose2D karto_scan_matcher::subtractLaserOffset	(	const karto::Pose2 &	pose,
		const karto::Pose2 &	offset
	)

Definition at line 159 of file karto_scan_matcher.cpp.

ScanPtr karto_scan_matcher::wrapBareScanPtr

(

karto::LocalizedRangeScan *

scan

)

Definition at line 174 of file karto_scan_matcher.cpp.

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Variable Documentation

const double karto_scan_matcher::DEFAULT_RANGE_THRESHOLD = 12.0

Definition at line 65 of file karto_scan_matcher.h.

const double karto_scan_matcher::DEFAULT_SMEAR_DEVIATION = 0.03

Some parameters of the scan matching.

Definition at line 64 of file karto_scan_matcher.h.

unsigned karto_scan_matcher::name_suffix [static]

Definition at line 22 of file karto_scan_matcher.cpp.

boost::mutex karto_scan_matcher::static_name_mutex [static]

Definition at line 21 of file karto_scan_matcher.cpp.