karto::GridIndexLookup< T > Class Template Reference

#include <GridIndexLookup.h>

List of all members.

Public Member Functions
void	ComputeOffsets (LocalizedLaserScan *pScan, kt_double angleCenter, kt_double angleOffset, kt_double angleResolution)
const List< kt_double > &	GetAngles () const
const LookupArray *	GetLookupArray (kt_int32u index) const
	GridIndexLookup (Grid< T > *pGrid)
virtual	~GridIndexLookup ()
Private Member Functions
void	ComputeOffsets (kt_int32u angleIndex, kt_double angle, const Pose2List &rLocalPoints)
void	DestroyArrays ()
void	SetSize (kt_int32u size)
Private Attributes
List< kt_double >	m_Angles
kt_int32u	m_Capacity
Grid< T > *	m_pGrid
LookupArray **	m_ppLookupArray
kt_int32u	m_Size

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Detailed Description

template<typename T>
class karto::GridIndexLookup< T >

Create lookup tables for point readings at varying angles in grid. For each angle, grid indexes are calculated for each point reading. This is to speed up finding best angle/position for a localized laser scan

Used heavily in mapper and localizer.

In the localizer, this is a huge speed up for calculating possible positions. For each particle, a probability is calculated. The laser scan is the same, but all grid indexes at all possible angles are calculated. So when calculating the particle probability at a specific angle, the index table is used to look up probabilities in the probability grid.

Definition at line 136 of file GridIndexLookup.h.

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Constructor & Destructor Documentation

template<typename T>

karto::GridIndexLookup< T >::GridIndexLookup

(

Grid< T > *

pGrid

)

[inline]

Construct a GridIndexLookup with a grid

Parameters:

pGrid

grid pointer

Definition at line 143 of file GridIndexLookup.h.

template<typename T>

virtual karto::GridIndexLookup< T >::~GridIndexLookup

(

)

[inline, virtual]

Destructor

Definition at line 154 of file GridIndexLookup.h.

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Member Function Documentation

template<typename T>

void karto::GridIndexLookup< T >::ComputeOffsets	(	LocalizedLaserScan *	pScan,
		kt_double	angleCenter,
		kt_double	angleOffset,
		kt_double	angleResolution
	)		[inline]

Computes lookup table of the points of the given scan for the given angular space

Parameters:

pScan	scan
angleCenter	angle at center
angleOffset	computes lookup arrays for the angles within this offset around angleCenter
angleResolution	how fine a granularity to compute lookup arrays in the angular space

Definition at line 188 of file GridIndexLookup.h.

template<typename T>

void karto::GridIndexLookup< T >::ComputeOffsets	(	kt_int32u	angleIndex,
		kt_double	angle,
		const Pose2List &	rLocalPoints
	)		[inline, private]

Computes lookup value of points for given angle

Parameters:

angleIndex	angle index
angle	angle
rLocalPoints	points in local coordinates

Definition at line 231 of file GridIndexLookup.h.

template<typename T>

void karto::GridIndexLookup< T >::DestroyArrays

(

)

[inline, private]

Delete the arrays

Definition at line 301 of file GridIndexLookup.h.

template<typename T>

const List<kt_double>& karto::GridIndexLookup< T >::GetAngles

(

)

const [inline]

Gets list of angles

Returns:

list of angles

Definition at line 176 of file GridIndexLookup.h.

template<typename T>

const LookupArray* karto::GridIndexLookup< T >::GetLookupArray

(

kt_int32u

index

)

const [inline]

Gets the lookup array for a particular angle index

Parameters:

index

angle index

Returns:

lookup array

Definition at line 165 of file GridIndexLookup.h.

template<typename T>

void karto::GridIndexLookup< T >::SetSize

(

kt_int32u

size

)

[inline, private]

Sets size of lookup table (resize if not big enough)

Parameters:

size

new size

Definition at line 274 of file GridIndexLookup.h.

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Member Data Documentation

template<typename T>

List<kt_double> karto::GridIndexLookup< T >::m_Angles [private]

Definition at line 321 of file GridIndexLookup.h.

template<typename T>

kt_int32u karto::GridIndexLookup< T >::m_Capacity [private]

Definition at line 315 of file GridIndexLookup.h.

template<typename T>

Grid<T>* karto::GridIndexLookup< T >::m_pGrid [private]

Definition at line 313 of file GridIndexLookup.h.

template<typename T>

LookupArray** karto::GridIndexLookup< T >::m_ppLookupArray [private]

Definition at line 318 of file GridIndexLookup.h.

template<typename T>

kt_int32u karto::GridIndexLookup< T >::m_Size [private]

Definition at line 316 of file GridIndexLookup.h.

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

• GridIndexLookup.h