scanmatcherprocessor.h
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00001 #ifndef SCANMATCHERPROCESSOR_H
00002 #define SCANMATCHERPROCESSOR_H
00003 
00004 #include <gmapping/log/sensorlog.h>
00005 #include <gmapping/sensor/sensor_range/rangesensor.h>
00006 #include <gmapping/sensor/sensor_range/rangereading.h>
00007 //#include <gsl/gsl_eigen.h>
00008 #include <gmapping/scanmatcher/scanmatcher.h>
00009 
00010 namespace GMapping {
00011 
00012 class ScanMatcherProcessor{
00013         public:
00014   ScanMatcherProcessor(const ScanMatcherMap& m);
00015   ScanMatcherProcessor (double xmin, double ymin, double xmax, double ymax, double delta, double patchdelta);
00016                 virtual ~ScanMatcherProcessor ();
00017                 virtual void processScan(const RangeReading & reading);
00018                 void setSensorMap(const SensorMap& smap, std::string sensorName="FLASER");
00019                 void init();
00020                 void setMatchingParameters
00021                         (double urange, double range, double sigma, int kernsize, double lopt, double aopt, int iterations, bool computeCovariance=false);
00022                 void setRegistrationParameters(double regScore, double critScore);
00023                 OrientedPoint getPose() const;
00024                 inline const ScanMatcherMap& getMap() const {return m_map;}
00025                 inline ScanMatcher& matcher() {return m_matcher;}
00026                 inline void setmaxMove(double mmove){m_maxMove=mmove;}
00027                 bool useICP;
00028         protected:
00029                 ScanMatcher m_matcher;
00030                 bool m_computeCovariance;
00031                 bool m_first;
00032                 SensorMap m_sensorMap;
00033                 double m_regScore, m_critScore;
00034                 unsigned int m_beams;
00035                 double m_maxMove;
00036                 //state
00037                 ScanMatcherMap m_map;
00038                 OrientedPoint m_pose;
00039                 OrientedPoint m_odoPose;
00040                 int  m_count;
00041                 //gsl_eigen_symmv_workspace * m_eigenspace;
00042 };
00043 
00044 };
00045 
00046 #endif
00047 
00048 


openslam_gmapping
Author(s): Giorgio Grisetti, Cyrill Stachniss, Wolfram Burgard
autogenerated on Thu Jun 6 2019 19:25:13