#include <OpenMapper.h>

Inheritance diagram for karto::MapperGraph:

Public Member Functions
Edge< LocalizedObjectPtr > *	AddEdge (LocalizedObject pSourceObject, LocalizedObject pTargetObject, kt_bool &rIsNewEdge)
void	AddEdges (LocalizedObject *pObject)
void	AddEdges (LocalizedLaserScan *pScan, const Matrix3 &rCovariance)
void	AddVertex (LocalizedObject *pObject)
LocalizedLaserScanList	FindNearLinkedScans (LocalizedLaserScan *pScan, kt_double maxDistance)
LocalizedLaserScanList	FindOverlappingScans (LocalizedLaserScan *pScan)
ScanMatcher *	GetLoopScanMatcher () const
void	LinkChainToScan (const LocalizedLaserScanList &rChain, LocalizedLaserScan *pScan, const Pose2 &rMean, const Matrix3 &rCovariance)
	MapperGraph (OpenMapper *pOpenMapper, kt_double rangeThreshold)
kt_bool	TryCloseLoop (LocalizedLaserScan *pScan, const Identifier &rSensorName)
virtual	~MapperGraph ()
Private Member Functions
Pose2	ComputeWeightedMean (const Pose2List &rMeans, const List< Matrix3 > &rCovariances) const
void	CorrectPoses ()
List< LocalizedLaserScanList >	FindNearChains (LocalizedLaserScan *pScan)
LocalizedLaserScanList	FindPossibleLoopClosure (LocalizedLaserScan *pScan, const Identifier &rSensorName, kt_int32u &rStartScanIndex)
LocalizedLaserScan *	GetClosestScanToPose (const LocalizedLaserScanList &rScans, const Pose2 &rPose) const
Vertex< LocalizedObjectPtr > *	GetVertex (LocalizedObject *pObject)
void	LinkNearChains (LocalizedLaserScan *pScan, Pose2List &rMeans, List< Matrix3 > &rCovariances)
void	LinkObjects (LocalizedObject pFromObject, LocalizedObject pToObject, const Pose2 &rMean, const Matrix3 &rCovariance)
Private Attributes
ScanMatcher *	m_pLoopScanMatcher
OpenMapper *	m_pOpenMapper
GraphTraversal < LocalizedObjectPtr > *	m_pTraversal

Detailed Description

Graph for graph SLAM algorithm

Definition at line 563 of file OpenMapper.h.

Constructor & Destructor Documentation

karto::MapperGraph::MapperGraph	(	OpenMapper *	pOpenMapper,
		kt_double	rangeThreshold
	)

Graph for graph SLAM

Parameters:

pOpenMapper	mapper
rangeThreshold	range threshold

Definition at line 1429 of file OpenMapper.cpp.

karto::MapperGraph::~MapperGraph ( ) [virtual]

Destructor

Definition at line 1438 of file OpenMapper.cpp.

Member Function Documentation

Edge< LocalizedObjectPtr > * karto::MapperGraph::AddEdge	(	LocalizedObject *	pSourceObject,
		LocalizedObject *	pTargetObject,
		kt_bool &	rIsNewEdge
	)

Creates an edge between the source object and the target object if it does not already exist; otherwise return the existing edge

Parameters:

pSourceObject	source object
pTargetObject	target object
rIsNewEdge	set to true if the edge is new

Returns:: edge between source and target vertices

Definition at line 1653 of file OpenMapper.cpp.

void karto::MapperGraph::AddEdges ( LocalizedObject * pObject )

Links object to last scan

Parameters:

pObject object

Definition at line 1464 of file OpenMapper.cpp.

void karto::MapperGraph::AddEdges	(	LocalizedLaserScan *	pScan,
		const Matrix3 &	rCovariance
	)

Links scan to last scan and nearby chains of scans

Parameters:

pScan	scan
rCovariance	match uncertainty

Definition at line 1490 of file OpenMapper.cpp.

void karto::MapperGraph::AddVertex ( LocalizedObject * pObject )

Adds a vertex representing the given object to the graph

Parameters:

pObject object

Definition at line 1447 of file OpenMapper.cpp.

Pose2 karto::MapperGraph::ComputeWeightedMean	(	const Pose2List &	rMeans,
		const List< Matrix3 > &	rCovariances
	)		const `[private]`

Compute mean of poses weighted by covariances

Parameters:

rMeans	list of poses
rCovariances	uncertainties

Returns:: weighted mean

Definition at line 2033 of file OpenMapper.cpp.

void karto::MapperGraph::CorrectPoses ( ) [private]

Optimizes scan poses

Definition at line 2125 of file OpenMapper.cpp.

List< LocalizedLaserScanList > karto::MapperGraph::FindNearChains ( LocalizedLaserScan * pScan ) [private]

Finds chains of scans that are close to given scan

Parameters:

pScan scan

Returns:: chains of scans

Definition at line 1861 of file OpenMapper.cpp.

LocalizedLaserScanList karto::MapperGraph::FindNearLinkedScans	(	LocalizedLaserScan *	pScan,
		kt_double	maxDistance
	)

Finds "nearby" (no further than given distance away) scans through graph links

Parameters:

pScan	scan
maxDistance	maximum distance

Returns:: "nearby" scans that have a path of links to given scan

Definition at line 1987 of file OpenMapper.cpp.

LocalizedLaserScanList karto::MapperGraph::FindOverlappingScans ( karto::LocalizedLaserScan * pScan )

Finds scans that overlap the given scan (based on bounding boxes)

Parameters:

pScan scan

Returns:: overlapping scans

Definition at line 2007 of file OpenMapper.cpp.

LocalizedLaserScanList karto::MapperGraph::FindPossibleLoopClosure	(	LocalizedLaserScan *	pScan,
		const Identifier &	rSensorName,
		kt_int32u &	rStartScanIndex
	)		`[private]`

Tries to find a chain of scan from the given sensor starting at the given scan index that could possibly close a loop with the given scan

Parameters:

pScan	scan
rSensorName	name of sensor
rStartScanIndex	start index

Returns:: chain that can possibly close a loop with given scan

Definition at line 2077 of file OpenMapper.cpp.

LocalizedLaserScan * karto::MapperGraph::GetClosestScanToPose	(	const LocalizedLaserScanList &	rScans,
		const Pose2 &	rPose
	)		const `[private]`

Finds the closest scan in the vector to the given pose

Parameters:

rScans	scan
rPose	pose

Definition at line 1633 of file OpenMapper.cpp.

ScanMatcher* karto::MapperGraph::GetLoopScanMatcher ( ) const [inline]

Gets the graph's scan matcher

Returns:: scan matcher

Definition at line 635 of file OpenMapper.h.

Vertex<LocalizedObjectPtr>* karto::MapperGraph::GetVertex ( LocalizedObject * pObject ) [inline, private]

Gets the vertex associated with the given scan

Parameters:

pScan scan

Returns:: vertex of scan

Definition at line 655 of file OpenMapper.h.

void karto::MapperGraph::LinkChainToScan	(	const LocalizedLaserScanList &	rChain,
		LocalizedLaserScan *	pScan,
		const Pose2 &	rMean,
		const Matrix3 &	rCovariance
	)

Links the chain of scans to the given scan by finding the closest scan in the chain to the given scan

Parameters:

rChain	chain
pScan	scan
rMean	mean
rCovariance	match uncertainty

Definition at line 1842 of file OpenMapper.cpp.

void karto::MapperGraph::LinkNearChains	(	LocalizedLaserScan *	pScan,
		Pose2List &	rMeans,
		List< Matrix3 > &	rCovariances
	)		`[private]`

Finds nearby chains of scans and link them to scan if response is high enough

Parameters:

pScan	scan
rMeans	means
rCovariances	match uncertainties

Definition at line 1761 of file OpenMapper.cpp.

void karto::MapperGraph::LinkObjects	(	LocalizedObject *	pFromObject,
		LocalizedObject *	pToObject,
		const Pose2 &	rMean,
		const Matrix3 &	rCovariance
	)		`[private]`

Adds an edge between the two objects and labels the edge with the given mean and covariance

Parameters:

pFromObject	from object
pToObject	to object
rMean	mean
rCovariance	match uncertainty

Definition at line 1680 of file OpenMapper.cpp.

kt_bool karto::MapperGraph::TryCloseLoop	(	LocalizedLaserScan *	pScan,
		const Identifier &	rSensorName
	)

Tries to close a loop using the given scan with the scans from the given sensor

Parameters:

pScan	scan
rSensorName	name of sensor

Returns:: true if a loop was closed

Definition at line 1551 of file OpenMapper.cpp.

Member Data Documentation

ScanMatcher* karto::MapperGraph::m_pLoopScanMatcher [private]

Scan matcher for loop closures

Definition at line 723 of file OpenMapper.h.

OpenMapper* karto::MapperGraph::m_pOpenMapper [private]

Mapper of this graph

Definition at line 718 of file OpenMapper.h.

GraphTraversal<LocalizedObjectPtr>* karto::MapperGraph::m_pTraversal [private]

Traversal algorithm to find near linked scans

Definition at line 728 of file OpenMapper.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation