PolarMatcher Class Reference

#include <polar_match.h>

Public Member Functions
void	pm_find_far_points (PMScan *ls)
void	pm_init ()
	Initialises internar variables.
void	pm_median_filter (PMScan *ls)
PM_TYPE	pm_psm (PMScan lsr, PMScan lsa)
PM_TYPE	pm_psm_c (PMScan lsr, PMScan lsa)
void	pm_segment_scan (PMScan *ls)
	PolarMatcher ()
	stopping condition; the pose change has to be smaller than ... for ICP, MBICP
Public Attributes
std::vector< PM_TYPE >	pm_co
PM_TYPE	PM_DFI
std::vector< PM_TYPE >	pm_fi
PM_TYPE	PM_FI_MAX
PM_TYPE	PM_FI_MIN
double	PM_FOV
int	PM_L_POINTS
double	PM_MAX_ERROR
int	PM_MAX_ITER
	stopping condition; the pose change has to be smaller than ...
int	PM_MAX_ITER_ICP
	maximum number of iterations for PSM.PSM_C
double	PM_MAX_RANGE
	field of view of the laser range finder in degrees
int	PM_MIN_VALID_POINTS
	[cm] max valid laser range (set this to about 400 for the Hokuyo URG)
int	PM_SEARCH_WINDOW
	minimum number of valid points for scanmatching
std::vector< PM_TYPE >	pm_si
double	PM_STOP_COND
int	PM_STOP_COND_ICP
	maximum number of iterations for ICP,MBICP
double	PM_TIME_DELAY
	half window size which is searched for correct orientation
Private Member Functions
PM_TYPE	norm_a (PM_TYPE a)
void	pm_cov_est (PM_TYPE err, double c11, double c12, double c22, double c33, bool corridor=false, PM_TYPE corr_angle=0)
PM_TYPE	pm_error_index (PMScan lsr, PMScan lsa)
PM_TYPE	pm_orientation_search (const PMScan ref, const PM_TYPE new_r, const int *new_bad)
void	pm_scan_project (const PMScan act, PM_TYPE new_r, int *new_bad)
PM_TYPE	pm_translation_estimation (const PMScan ref, const PM_TYPE new_r, const int new_bad, PM_TYPE C, PM_TYPE dx, PM_TYPE *dy)
PM_TYPE	point_line_distance (PM_TYPE x1, PM_TYPE y1, PM_TYPE x2, PM_TYPE y2, PM_TYPE x3, PM_TYPE y3, PM_TYPE x, PM_TYPE y)

Detailed Description

Definition at line 93 of file polar_match.h.

Constructor & Destructor Documentation

PolarMatcher::PolarMatcher ( )

stopping condition; the pose change has to be smaller than ... for ICP, MBICP

Definition at line 65 of file polar_match.cpp.

Member Function Documentation

PM_TYPE PolarMatcher::norm_a ( PM_TYPE a ) [inline, private]

Definition at line 119 of file polar_match.h.

void PolarMatcher::pm_cov_est	(	PM_TYPE	err,
		double *	c11,
		double *	c12,
		double *	c22,
		double *	c33,
		bool	corridor = `false`,
		PM_TYPE	corr_angle = `0`
	)			`[private]`

Definition at line 349 of file polar_match.cpp.

PM_TYPE PolarMatcher::pm_error_index	(	PMScan *	lsr,
		PMScan *	lsa
	)			`[private]`

Definition at line 236 of file polar_match.cpp.

void PolarMatcher::pm_find_far_points ( PMScan * ls )

Definition at line 216 of file polar_match.cpp.

void PolarMatcher::pm_init ( )

Initialises internar variables.

Definition at line 72 of file polar_match.cpp.

void PolarMatcher::pm_median_filter ( PMScan * ls )

Definition at line 96 of file polar_match.cpp.

PM_TYPE PolarMatcher::pm_orientation_search	(	const PMScan *	ref,
		const PM_TYPE *	new_r,
		const int *	new_bad
	)			`[private]`

Function estimating the orientation of the current scan represented with range readings new_r and flags new_bad with respect to the reference scan ref. Assuming that the current and ref scan were taken at the same position, to an orientation change of the current scan a left or right shift of the scan ranges corresponds. The functions estimates the orientation by finding that shift which minimizes the difference between the current and ref. scan. The orientation estimate is then refined using interpolation.

Definition at line 718 of file polar_match.cpp.

PM_TYPE PolarMatcher::pm_psm	(	PMScan *	lsr,
		PMScan *	lsa
	)

Definition at line 516 of file polar_match.cpp.

PM_TYPE PolarMatcher::pm_psm_c	(	PMScan *	lsr,
		PMScan *	lsa
	)

Definition at line 387 of file polar_match.cpp.

void PolarMatcher::pm_scan_project	(	const PMScan *	act,
		PM_TYPE *	new_r,
		int *	new_bad
	)			`[private]`

projects the current (active) scan act to the base (ref.) (0,0,0) coordinate frame returns in new_r interpolated r at measurement bearings returns in new_bad bad flags of the interpolated range readings

Definition at line 615 of file polar_match.cpp.

void PolarMatcher::pm_segment_scan ( PMScan * ls )

Definition at line 134 of file polar_match.cpp.

PM_TYPE PolarMatcher::pm_translation_estimation	(	const PMScan *	ref,
		const PM_TYPE *	new_r,
		const int *	new_bad,
		PM_TYPE	C,
		PM_TYPE *	dx,
		PM_TYPE *	dy
	)			`[private]`