slam_dummy.cpp File Reference

#include <ros/ros.h>
#include <rosbag/bag.h>
#include <rosbag/view.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/io/pcd_io.h>
#include <pcl/registration/transforms.h>
#include <cob_3d_mapping_slam/curved_polygons/debug_interface.h>
#include <cob_3d_mapping_slam/slam/context.h>
#include <cob_3d_mapping_slam/slam/node.h>
#include <cob_3d_mapping_slam/dof/tflink.h>
#include <cob_3d_mapping_slam/dof/dof_uncertainty.h>
#include <cob_3d_mapping_slam/dof/dof_variance.h>
#include <cob_3d_mapping_slam/slam/dummy/objctxt.h>
#include <cob_3d_mapping_slam/slam/dummy/registration.h>
#include <cob_3d_mapping_slam/slam/dummy/key.h>
#include <cob_3d_mapping_slam/slam/dummy/robot.h>
#include <cob_3d_mapping_slam/curved_polygons/objctxt.h>
#include <cob_3d_mapping_slam/curved_polygons/key.h>
#include <cob_3d_mapping_msgs/ShapeArray.h>
#include "gnuplot_i.hpp"
#include <gtest/gtest.h>
#include <boost/random/mersenne_twister.hpp>
#include <boost/random/uniform_real.hpp>
#include <boost/random/variate_generator.hpp>
#include <visualization_msgs/Marker.h>
#include <nav_msgs/Odometry.h>
#include "pcl/visualization/pcl_visualizer.h"
#include <pcl/visualization/cloud_viewer.h>

Include dependency graph for slam_dummy.cpp:

Go to the source code of this file.

Classes
struct	SOdomotry_Data
Defines
#define	CYCLES   100
#define	DEBUG_
Typedefs
typedef void(*	motion_fct )(Eigen::Matrix3f &, Eigen::Vector3f &)
Functions
float	gen_random_float (float min, float max)
std::vector < cob_3d_mapping_msgs::CurvedPolygon >	generateRandomPlanes (const int N, const bool cors)
template<typename Matrix >
float	MATRIX_DISTANCE (const Matrix &a, const Matrix &b, const float thr=0.05)
void	motion1 (Eigen::Matrix3f &rot, Eigen::Vector3f &tr)
void	motion2 (Eigen::Matrix3f &rot, Eigen::Vector3f &tr)
void	motion2s (Eigen::Matrix3f &rot, Eigen::Vector3f &tr)
void	motion3 (Eigen::Matrix3f &rot, Eigen::Vector3f &tr)
void	motion3s (Eigen::Matrix3f &rot, Eigen::Vector3f &tr)
void	motion4 (Eigen::Matrix3f &rot, Eigen::Vector3f &tr)
void	motion4s (Eigen::Matrix3f &rot, Eigen::Vector3f &tr)
void	t1 ()
void	t2 ()
void	t4 ()
	TEST (Slam, merging)
Variables
static const char *	BAGFILES [][512]
static const char *	GROUNDTRUTH [][512]

---

Define Documentation

#define CYCLES   100

Definition at line 55 of file slam_dummy.cpp.

#define DEBUG_

Definition at line 20 of file slam_dummy.cpp.

---

Typedef Documentation

typedef void(* motion_fct)(Eigen::Matrix3f &, Eigen::Vector3f &)

Definition at line 219 of file slam_dummy.cpp.

---

Function Documentation

float gen_random_float	(	float	min,
		float	max
	)

Definition at line 140 of file slam_dummy.cpp.

std::vector<cob_3d_mapping_msgs::CurvedPolygon> generateRandomPlanes	(	const int	N,
		const bool	cors
	)

Definition at line 149 of file slam_dummy.cpp.

template<typename Matrix >

float MATRIX_DISTANCE	(	const Matrix &	a,
		const Matrix &	b,
		const float	thr = 0.05
	)

Definition at line 88 of file slam_dummy.cpp.

void motion1	(	Eigen::Matrix3f &	rot,
		Eigen::Vector3f &	tr
	)

Definition at line 221 of file slam_dummy.cpp.

void motion2	(	Eigen::Matrix3f &	rot,
		Eigen::Vector3f &	tr
	)

Definition at line 227 of file slam_dummy.cpp.

void motion2s	(	Eigen::Matrix3f &	rot,
		Eigen::Vector3f &	tr
	)

Definition at line 235 of file slam_dummy.cpp.

void motion3	(	Eigen::Matrix3f &	rot,
		Eigen::Vector3f &	tr
	)

Definition at line 241 of file slam_dummy.cpp.

void motion3s	(	Eigen::Matrix3f &	rot,
		Eigen::Vector3f &	tr
	)

Definition at line 253 of file slam_dummy.cpp.

void motion4	(	Eigen::Matrix3f &	rot,
		Eigen::Vector3f &	tr
	)

Definition at line 261 of file slam_dummy.cpp.

void motion4s	(	Eigen::Matrix3f &	rot,
		Eigen::Vector3f &	tr
	)

Definition at line 269 of file slam_dummy.cpp.

void t1

(

)

Definition at line 121 of file slam_dummy.cpp.

void t2

(

)

Definition at line 103 of file slam_dummy.cpp.

void t4

(

)

Definition at line 278 of file slam_dummy.cpp.

TEST	(	Slam	,
		merging
	)

Definition at line 379 of file slam_dummy.cpp.

---

Variable Documentation

const char* BAGFILES[][512] [static]

Initial value:

{
                                    
                                    {
                                     
                                     
                                     
                                     
                                     
                                     
                                     "test/cp3_rgbd_dataset_freiburg2_xyz.bag",
                                     
                                     
                                     
                                     
                                     
                                     
                                     
                                     ""}
}

Definition at line 56 of file slam_dummy.cpp.

const char* GROUNDTRUTH[][512] [static]

Initial value:

{
                                       {
                                        
                                        
                                        "test/rgbd_dataset_freiburg2_xyz-groundtruth.txt",
                                        
                                        0
                                       }
}

Definition at line 76 of file slam_dummy.cpp.