#include <registration_fastslam.h>
Public Member Functions | |
| virtual boost::shared_ptr < const pcl::PointCloud< Point > > | getMarkers () |
| debug function for marker visualization | |
| Registration_FastSLAM () | |
| virtual | ~Registration_FastSLAM () |
Protected Member Functions | |
| virtual bool | compute_corrospondences () |
| virtual bool | compute_features () |
| virtual bool | compute_transformation () |
| virtual boost::shared_ptr < pcl::PointCloud< Point > > | getMap () |
| map is not necessarily implemented | |
Private Member Functions | |
| unsigned long | AddFeaturesToGlobalMap (AbstractFeatureVector *afl) |
| unsigned long | CreateMeasurementModel () |
| unsigned long | CreateSystemModel () |
Private Attributes | |
| boost::shared_ptr < AbstractFeatureVector > | m_AllFeatures |
| KdTreeDataAssociation | m_DataAssociation |
| FastSLAM | m_FastSLAM |
| AbstractLocalFeatureDetector * | m_FeatureDetector |
| boost::shared_ptr < FastSLAMParticle > | m_MapParticle |
| BFL::AnalyticMeasurementModelGaussianUncertainty * | m_MeasModel |
| BFL::ColumnVector | m_RobotPose |
| BFL::SystemModel < BFL::ColumnVector > * | m_SysModel |
| pcl::PointCloud< Point > | register_ |
| int | step_ |
| MatrixWrapper::Matrix | transformation_camera2base_ |
| MatrixWrapper::Matrix | transformation_tof2base_pltf_ |
| pcl::PointCloud< Point > | visual_pc_ |
Detailed Description
template<typename Point>
class cob_3d_registration::Registration_FastSLAM< Point >
Definition at line 77 of file registration_fastslam.h.
Constructor & Destructor Documentation
| cob_3d_registration::Registration_FastSLAM< Point >::Registration_FastSLAM | ( | ) | [inline] |
Definition at line 98 of file registration_fastslam.h.
| virtual cob_3d_registration::Registration_FastSLAM< Point >::~Registration_FastSLAM | ( | ) | [inline, virtual] |
Definition at line 112 of file registration_fastslam.h.
Member Function Documentation
| unsigned long cob_3d_registration::Registration_FastSLAM< Point >::AddFeaturesToGlobalMap | ( | AbstractFeatureVector * | afl | ) | [inline, private] |
Definition at line 365 of file registration_fastslam.h.
| virtual bool cob_3d_registration::Registration_FastSLAM< Point >::compute_corrospondences | ( | ) | [inline, protected, virtual] |
Remove class associations from rejected particles
Remove class label if necessary
Add new feature only if it is not masked It is important that the features ID corresponds to the position in the particle map
Implements cob_3d_registration::GeneralRegistration< Point >.
Definition at line 172 of file registration_fastslam.h.
| virtual bool cob_3d_registration::Registration_FastSLAM< Point >::compute_features | ( | ) | [inline, protected, virtual] |
Implements cob_3d_registration::GeneralRegistration< Point >.
Definition at line 120 of file registration_fastslam.h.
| virtual bool cob_3d_registration::Registration_FastSLAM< Point >::compute_transformation | ( | ) | [inline, protected, virtual] |
Implements cob_3d_registration::GeneralRegistration< Point >.
Definition at line 263 of file registration_fastslam.h.
| unsigned long cob_3d_registration::Registration_FastSLAM< Point >::CreateMeasurementModel | ( | ) | [inline, private] |
create the model
Definition at line 318 of file registration_fastslam.h.
| unsigned long cob_3d_registration::Registration_FastSLAM< Point >::CreateSystemModel | ( | ) | [inline, private] |
create the nonlinear system model
Definition at line 338 of file registration_fastslam.h.
| virtual boost::shared_ptr<pcl::PointCloud<Point> > cob_3d_registration::Registration_FastSLAM< Point >::getMap | ( | ) | [inline, protected, virtual] |
map is not necessarily implemented
Reimplemented from cob_3d_registration::GeneralRegistration< Point >.
Definition at line 312 of file registration_fastslam.h.
| virtual boost::shared_ptr<const pcl::PointCloud<Point> > cob_3d_registration::Registration_FastSLAM< Point >::getMarkers | ( | ) | [inline, virtual] |
debug function for marker visualization
Reimplemented from cob_3d_registration::GeneralRegistration< Point >.
Definition at line 116 of file registration_fastslam.h.
Member Data Documentation
boost::shared_ptr<AbstractFeatureVector> cob_3d_registration::Registration_FastSLAM< Point >::m_AllFeatures [private] |
Definition at line 87 of file registration_fastslam.h.
KdTreeDataAssociation cob_3d_registration::Registration_FastSLAM< Point >::m_DataAssociation [private] |
Definition at line 88 of file registration_fastslam.h.
FastSLAM cob_3d_registration::Registration_FastSLAM< Point >::m_FastSLAM [private] |
Definition at line 81 of file registration_fastslam.h.
AbstractLocalFeatureDetector* cob_3d_registration::Registration_FastSLAM< Point >::m_FeatureDetector [private] |
Definition at line 89 of file registration_fastslam.h.
boost::shared_ptr<FastSLAMParticle> cob_3d_registration::Registration_FastSLAM< Point >::m_MapParticle [private] |
Definition at line 90 of file registration_fastslam.h.
BFL::AnalyticMeasurementModelGaussianUncertainty* cob_3d_registration::Registration_FastSLAM< Point >::m_MeasModel [private] |
Definition at line 79 of file registration_fastslam.h.
BFL::ColumnVector cob_3d_registration::Registration_FastSLAM< Point >::m_RobotPose [private] |
Definition at line 82 of file registration_fastslam.h.
BFL::SystemModel<BFL::ColumnVector>* cob_3d_registration::Registration_FastSLAM< Point >::m_SysModel [private] |
Definition at line 80 of file registration_fastslam.h.
pcl::PointCloud<Point> cob_3d_registration::Registration_FastSLAM< Point >::register_ [private] |
Definition at line 93 of file registration_fastslam.h.
int cob_3d_registration::Registration_FastSLAM< Point >::step_ [private] |
Definition at line 91 of file registration_fastslam.h.
MatrixWrapper::Matrix cob_3d_registration::Registration_FastSLAM< Point >::transformation_camera2base_ [private] |
Definition at line 85 of file registration_fastslam.h.
MatrixWrapper::Matrix cob_3d_registration::Registration_FastSLAM< Point >::transformation_tof2base_pltf_ [private] |
Definition at line 84 of file registration_fastslam.h.
pcl::PointCloud<Point> cob_3d_registration::Registration_FastSLAM< Point >::visual_pc_ [private] |
Definition at line 94 of file registration_fastslam.h.
The documentation for this class was generated from the following file: