Public Member Functions
const ScanMatcherMap &	getMap () const
OrientedPoint	getPose () const
void	init ()
ScanMatcher &	matcher ()
virtual void	processScan (const RangeReading &reading)
	ScanMatcherProcessor (const ScanMatcherMap &m)
	ScanMatcherProcessor (double xmin, double ymin, double xmax, double ymax, double delta, double patchdelta)
void	setMatchingParameters (double urange, double range, double sigma, int kernsize, double lopt, double aopt, int iterations, bool computeCovariance=false)
void	setmaxMove (double mmove)
void	setRegistrationParameters (double regScore, double critScore)
void	setSensorMap (const SensorMap &smap, std::string sensorName="FLASER")
virtual	~ScanMatcherProcessor ()
Public Attributes
bool	useICP
Protected Attributes
unsigned int	m_beams
bool	m_computeCovariance
int	m_count
double	m_critScore
bool	m_first
ScanMatcherMap	m_map
ScanMatcher	m_matcher
double	m_maxMove
OrientedPoint	m_odoPose
OrientedPoint	m_pose
double	m_regScore
SensorMap	m_sensorMap

Detailed Description

Definition at line 12 of file scanmatcherprocessor.h.

Constructor & Destructor Documentation

GMapping::ScanMatcherProcessor::ScanMatcherProcessor ( const ScanMatcherMap & m )

Definition at line 10 of file scanmatcherprocessor.cpp.

GMapping::ScanMatcherProcessor::ScanMatcherProcessor	(	double	xmin,
		double	ymin,
		double	xmax,
		double	ymax,
		double	delta,
		double	patchdelta
	)

Definition at line 24 of file scanmatcherprocessor.cpp.

GMapping::ScanMatcherProcessor::~ScanMatcherProcessor ( ) [virtual]

Definition at line 35 of file scanmatcherprocessor.cpp.

const ScanMatcherMap& GMapping::ScanMatcherProcessor::getMap ( ) const [inline]

Definition at line 24 of file scanmatcherprocessor.h.

OrientedPoint GMapping::ScanMatcherProcessor::getPose ( ) const

Definition at line 228 of file scanmatcherprocessor.cpp.

void GMapping::ScanMatcherProcessor::init ( )

Definition at line 65 of file scanmatcherprocessor.cpp.

ScanMatcher& GMapping::ScanMatcherProcessor::matcher ( ) [inline]

Definition at line 25 of file scanmatcherprocessor.h.

void GMapping::ScanMatcherProcessor::processScan ( const RangeReading & reading ) [virtual]

retireve the position from the reading, and compute the odometry

Definition at line 71 of file scanmatcherprocessor.cpp.

void GMapping::ScanMatcherProcessor::setMatchingParameters	(	double	urange,
		double	range,
		double	sigma,
		int	kernsize,
		double	lopt,
		double	aopt,
		int	iterations,
		bool	computeCovariance = `false`
	)