hectorslam::HectorSlamProcessor Class Reference

Public Member Functions
void	addMapMutex (int i, MapLockerInterface *mapMutex)
const GridMap &	getGridMap (int mapLevel=0) const
const Eigen::Matrix3f &	getLastScanMatchCovariance () const
const Eigen::Vector3f &	getLastScanMatchPose () const
int	getMapLevels () const
MapLockerInterface *	getMapMutex (int i)
float	getScaleToMap () const
	HectorSlamProcessor (float mapResolution, int mapSizeX, int mapSizeY, const Eigen::Vector2f &startCoords, int multi_res_size, DrawInterface drawInterfaceIn=0, HectorDebugInfoInterface debugInterfaceIn=0)
void	reset ()
void	setMapUpdateMinAngleDiff (float angleChange)
void	setMapUpdateMinDistDiff (float minDist)
void	setUpdateFactorFree (float free_factor)
void	setUpdateFactorOccupied (float occupied_factor)
void	update (const DataContainer &dataContainer, const Eigen::Vector3f &poseHintWorld, bool map_without_matching=false)
	~HectorSlamProcessor ()
Protected Attributes
HectorDebugInfoInterface *	debugInterface
DrawInterface *	drawInterface
Eigen::Vector3f	lastMapUpdatePose
Eigen::Matrix3f	lastScanMatchCov
Eigen::Vector3f	lastScanMatchPose
MapRepresentationInterface *	mapRep
float	paramMinAngleDiffForMapUpdate
float	paramMinDistanceDiffForMapUpdate

Detailed Description

Definition at line 46 of file HectorSlamProcessor.h.

hectorslam::HectorSlamProcessor::HectorSlamProcessor	(	float	mapResolution,
		int	mapSizeX,
		int	mapSizeY,
		const Eigen::Vector2f &	startCoords,
		int	multi_res_size,
		DrawInterface *	drawInterfaceIn = `0`,
		HectorDebugInfoInterface *	debugInterfaceIn = `0`
	)			`[inline]`

Definition at line 47 of file HectorSlamProcessor.h.

hectorslam::HectorSlamProcessor::~HectorSlamProcessor ( ) [inline]

Definition at line 59 of file HectorSlamProcessor.h.

void hectorslam::HectorSlamProcessor::addMapMutex	(	int	i,
		MapLockerInterface *	mapMutex
	)			`[inline]`

Definition at line 126 of file HectorSlamProcessor.h.

const GridMap& hectorslam::HectorSlamProcessor::getGridMap ( int mapLevel = 0 ) const [inline]

Definition at line 124 of file HectorSlamProcessor.h.

const Eigen::Matrix3f& hectorslam::HectorSlamProcessor::getLastScanMatchCovariance ( ) const [inline]

Definition at line 120 of file HectorSlamProcessor.h.

const Eigen::Vector3f& hectorslam::HectorSlamProcessor::getLastScanMatchPose ( ) const [inline]

Definition at line 119 of file HectorSlamProcessor.h.

int hectorslam::HectorSlamProcessor::getMapLevels ( ) const [inline]

Definition at line 123 of file HectorSlamProcessor.h.

MapLockerInterface* hectorslam::HectorSlamProcessor::getMapMutex ( int i ) [inline]

Definition at line 127 of file HectorSlamProcessor.h.

float hectorslam::HectorSlamProcessor::getScaleToMap ( ) const [inline]

Definition at line 121 of file HectorSlamProcessor.h.

void hectorslam::HectorSlamProcessor::reset ( ) [inline]

Definition at line 108 of file HectorSlamProcessor.h.

void hectorslam::HectorSlamProcessor::setMapUpdateMinAngleDiff ( float angleChange ) [inline]

Definition at line 132 of file HectorSlamProcessor.h.

void hectorslam::HectorSlamProcessor::setMapUpdateMinDistDiff ( float minDist ) [inline]

Definition at line 131 of file HectorSlamProcessor.h.

void hectorslam::HectorSlamProcessor::setUpdateFactorFree ( float free_factor ) [inline]

Definition at line 129 of file HectorSlamProcessor.h.

void hectorslam::HectorSlamProcessor::setUpdateFactorOccupied ( float occupied_factor ) [inline]

Definition at line 130 of file HectorSlamProcessor.h.

void hectorslam::HectorSlamProcessor::update	(	const DataContainer &	dataContainer,
		const Eigen::Vector3f &	poseHintWorld,
		bool	map_without_matching = `false`
	)			`[inline]`