cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D Class Reference

#include <fast_correlative_scan_matcher_2d.h>

List of all members.

Public Member Functions
	FastCorrelativeScanMatcher2D (const Grid2D &grid, const proto::FastCorrelativeScanMatcherOptions2D &options)
	FastCorrelativeScanMatcher2D (const FastCorrelativeScanMatcher2D &)
bool	Match (const transform::Rigid2d &initial_pose_estimate, const sensor::PointCloud &point_cloud, float min_score, float *score, transform::Rigid2d *pose_estimate) const
bool	MatchFullSubmap (const sensor::PointCloud &point_cloud, float min_score, float *score, transform::Rigid2d *pose_estimate) const
FastCorrelativeScanMatcher2D &	operator= (const FastCorrelativeScanMatcher2D &)
	~FastCorrelativeScanMatcher2D ()
Private Member Functions
Candidate2D	BranchAndBound (const std::vector< DiscreteScan2D > &discrete_scans, const SearchParameters &search_parameters, const std::vector< Candidate2D > &candidates, int candidate_depth, float min_score) const
std::vector< Candidate2D >	ComputeLowestResolutionCandidates (const std::vector< DiscreteScan2D > &discrete_scans, const SearchParameters &search_parameters) const
std::vector< Candidate2D >	GenerateLowestResolutionCandidates (const SearchParameters &search_parameters) const
bool	MatchWithSearchParameters (SearchParameters search_parameters, const transform::Rigid2d &initial_pose_estimate, const sensor::PointCloud &point_cloud, float min_score, float *score, transform::Rigid2d *pose_estimate) const
void	ScoreCandidates (const PrecomputationGrid2D &precomputation_grid, const std::vector< DiscreteScan2D > &discrete_scans, const SearchParameters &search_parameters, std::vector< Candidate2D > *const candidates) const
Private Attributes
MapLimits	limits_
const proto::FastCorrelativeScanMatcherOptions2D	options_
std::unique_ptr < PrecomputationGridStack2D >	precomputation_grid_stack_

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Detailed Description

Definition at line 112 of file fast_correlative_scan_matcher_2d.h.

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Constructor & Destructor Documentation

cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::FastCorrelativeScanMatcher2D	(	const Grid2D &	grid,
		const proto::FastCorrelativeScanMatcherOptions2D &	options
	)

Definition at line 188 of file fast_correlative_scan_matcher_2d.cc.

cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::~FastCorrelativeScanMatcher2D

(

)

Definition at line 196 of file fast_correlative_scan_matcher_2d.cc.

cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::FastCorrelativeScanMatcher2D

(

const FastCorrelativeScanMatcher2D &

)

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Member Function Documentation

Candidate2D cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::BranchAndBound	(	const std::vector< DiscreteScan2D > &	discrete_scans,
		const SearchParameters &	search_parameters,
		const std::vector< Candidate2D > &	candidates,
		int	candidate_depth,
		float	min_score
	)		const [private]

Definition at line 335 of file fast_correlative_scan_matcher_2d.cc.

std::vector< Candidate2D > cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::ComputeLowestResolutionCandidates	(	const std::vector< DiscreteScan2D > &	discrete_scans,
		const SearchParameters &	search_parameters
	)		const [private]

Definition at line 265 of file fast_correlative_scan_matcher_2d.cc.

std::vector< Candidate2D > cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::GenerateLowestResolutionCandidates

(

const SearchParameters &

search_parameters

)

const [private]

Definition at line 277 of file fast_correlative_scan_matcher_2d.cc.

bool cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::Match	(	const transform::Rigid2d &	initial_pose_estimate,
		const sensor::PointCloud &	point_cloud,
		float	min_score,
		float *	score,
		transform::Rigid2d *	pose_estimate
	)		const

Definition at line 198 of file fast_correlative_scan_matcher_2d.cc.

bool cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::MatchFullSubmap	(	const sensor::PointCloud &	point_cloud,
		float	min_score,
		float *	score,
		transform::Rigid2d *	pose_estimate
	)		const

Definition at line 210 of file fast_correlative_scan_matcher_2d.cc.

bool cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::MatchWithSearchParameters	(	SearchParameters	search_parameters,
		const transform::Rigid2d &	initial_pose_estimate,
		const sensor::PointCloud &	point_cloud,
		float	min_score,
		float *	score,
		transform::Rigid2d *	pose_estimate
	)		const [private]

Definition at line 227 of file fast_correlative_scan_matcher_2d.cc.

FastCorrelativeScanMatcher2D& cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::operator=

(

const FastCorrelativeScanMatcher2D &

)

void cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::ScoreCandidates	(	const PrecomputationGrid2D &	precomputation_grid,
		const std::vector< DiscreteScan2D > &	discrete_scans,
		const SearchParameters &	search_parameters,
		std::vector< Candidate2D > *const	candidates
	)		const [private]

Definition at line 314 of file fast_correlative_scan_matcher_2d.cc.

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Member Data Documentation

MapLimits cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::limits_ [private]

Definition at line 162 of file fast_correlative_scan_matcher_2d.h.

const proto::FastCorrelativeScanMatcherOptions2D cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::options_ [private]

Definition at line 161 of file fast_correlative_scan_matcher_2d.h.

std::unique_ptr<PrecomputationGridStack2D> cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::precomputation_grid_stack_ [private]

Definition at line 163 of file fast_correlative_scan_matcher_2d.h.

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

• fast_correlative_scan_matcher_2d.h
• fast_correlative_scan_matcher_2d.cc